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Passive adaptive grippers: a mini-review. [PDF]
Front Robot AIChan MC, Scharff RBN.
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Passivity control of a passive haptic device
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2005In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment.
Beom-Seop Kim +4 more
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On Discretizing Linear Passive Controllers
2006 IEEE International Symposium on Circuits and Systems, 2006In this work a new methodology which allows to discretize linear continuous-time passivity based controller is presented. This methodology is based on choosing a proper output, which preserves the passivity structure, while keeping the continuous-time energy function. Analytic formulation and a numerical example are provided in the paper.
Ramon Costa-Castelló, Enric Fossas
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2000
This chapter is devoted to investigate how the dissipativity properties of the various systems examined in the foregoing chapter can be used to design stable and robust feedback controllers (in continuous and discrete time). We start with a classical result of mechanics, which actually is the basis of Lyapunov stability and Lyapunov functions theory ...
Bernard Brogliato +3 more
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This chapter is devoted to investigate how the dissipativity properties of the various systems examined in the foregoing chapter can be used to design stable and robust feedback controllers (in continuous and discrete time). We start with a classical result of mechanics, which actually is the basis of Lyapunov stability and Lyapunov functions theory ...
Bernard Brogliato +3 more
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Passive control of overhead cranes
Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), 1999The focus of this paper is on the design of optimal passive controllers for rest-to-rest maneuvers of flexible structures. The parameters of the passive controller are determined by formulating an optimization problem to minimize the integral of the time absolute error, subject to control constraints.
Hasan Alli, Tarunraj Singh
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Passive Control of the Vertical Instability in Intor
Fusion Technology, 1985In the international tokamak reactor (INTOR), the problem of the passive control of the vertical instability is to be solved by means of suitably shaped saddle coils to be embedded in the blanket structure. The efficiency of such a system depends on the characteristics of the passive conductors and on the plasma equilibrium as well as on the type of ...
S. BOBBIO +4 more
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PASSIVITY AND PASSIVITY BASED CONTROLLER DESIGN OF A CLASS OF SWITCHED CONTROL SYSTEMS
IFAC Proceedings Volumes, 2005Abstract 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?
Weitian Chen, Mehrdad Saif
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2013
In this chapter, structural control techniques aimed at reducing the vulnerability of existing or new structures, built in medium and high seismic risk areas, are described. The description is focused on the passive control and, in particular, on the passive supplemental energy dissipation techniques.
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In this chapter, structural control techniques aimed at reducing the vulnerability of existing or new structures, built in medium and high seismic risk areas, are described. The description is focused on the passive control and, in particular, on the passive supplemental energy dissipation techniques.
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Passive control of an electrohydraulic actuator using an electrohydraulic passive valve
Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), 2001A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact.
Kailash Krishnaswamy, Perry Y. Li
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Passivity and Passification for Networked Control Systems
SIAM Journal on Control and Optimization, 2007This paper investigates the problems of passivity analysis and passification for network-based linear control systems. A new sampled-data model is first formulated based on the updating instants of the ZOH (zeroth order hold), where the physical plant and the controller are, respectively, in continuous time and discrete time.
Huijun Gao, Tongwen Chen, Tianyou Chai
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