This paper focuses on the problem of finite-time boundedness and finite-time passivity of discrete-time T-S fuzzy neural networks with time-varying delays. A suitable Lyapunov--Krasovskii functional(LKF) is established to derive sufficient condition for finite-time passivity of discrete-time T-S fuzzy neural networks. The dynamical system is transformed into a T-S fuzzy model with uncertain par...

In this paper, passivity and passivation problems for event-triggered feedback interconnected systems are addressed. We consider passivity in two event-triggered control schemes based on the location of the event-triggered samplers: sampler at plant output and sampler at controller output. For both schemes, we first derive the conditions to characterize the level of passivity for the interconne...

by RAVI HEBBAR For dynamically-interacting systems, such as a robot contacting an environment during an assembly operation or multiple robots collaborating in a manipulation task, issues of stability can be difficult to analyze. One very valuable tool is passivity analysis. If each dynamic subsystem (linear or nonlinear) satisfies the property of passivity with respect to its interaction port(s...

In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port delayed network system, by separatin...

Passivity experiences are hallmark symptoms of schizophrenia that can be characterized by the belief that one's thoughts or actions are controlled by an external agent. It has recently been suggested that these psychotic experiences result from defective monitoring of one's own actions, i.e. disturbed comparison of actions and perceived outcomes. In this study, we examined the function of the p...

Schizophrenic patients experiencing passivity phenomena believe their thoughts and actions to be those of external, or alien, entities. We wished to test the hypothesis that voluntary motor action in such patients would be associated with aberrant patterns of activation within the cerebral motor system. We used H2(15)O PET to study patients while they performed paced joystick movements on two o...

Notions of passivity for a class of switched control systems (SCS) are developed first in this article. We then study the following problems: 1) When is an SCS passive? 2) Does passivity imply Lyapunov stability as in the classical passive systems? 3) How to use passivity as a tool to design controllers to stabilize an SCS? For Problem 1), we derive sufficient conditions for passivity. For prob...

This paper considers the internal stability of an interconnection of two implicit systems based on passivity theory. The passivity for implicit systems is defined as a generalization of the passivity in the traditional input-output framework. We derive a necessary and sufficient condition for the passivity of an implicit system in terms of a constrained linear matrix inequality (CLMI). Based on...

Cyber Physical Systems (CPS) often have continuous components interconnected with systems described by discrete state space. Examples of such discrete components may be supervisory controllers or components implemented in software. To design large scale CPS in a compositional manner it would be useful to define a notion of passivity for these discrete components as well. As a first step towards...

Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...