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Статті в журналах з теми "Robust passivity"
Lin, Zhongwei, Jizhen Liu, and Yuguang Niu. "Robust Passivity and Feedback Design for Nonlinear Stochastic Systems with Structural Uncertainty." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/460348.
Повний текст джерелаBu, Ni, and Mingcong Deng. "Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 837–41. http://dx.doi.org/10.20965/jrm.2016.p0837.
Повний текст джерелаLin, Shanrong, Yanli Huang, and Erfu Yang. "Passivity and Synchronization of Coupled Different Dimensional Delayed Reaction-Diffusion Neural Networks with Dirichlet Boundary Conditions." Complexity 2020 (January 8, 2020): 1–21. http://dx.doi.org/10.1155/2020/4987962.
Повний текст джерелаSamorn, Nayika, Narongsak Yotha, Pantiwa Srisilp, and Kanit Mukdasai. "LMI-Based Results on Robust Exponential Passivity of Uncertain Neutral-Type Neural Networks with Mixed Interval Time-Varying Delays via the Reciprocally Convex Combination Technique." Computation 9, no. 6 (June 10, 2021): 70. http://dx.doi.org/10.3390/computation9060070.
Повний текст джерелаSheng, Yin, and Zhigang Zeng. "Passivity and robust passivity of stochastic reaction–diffusion neural networks with time-varying delays." Journal of the Franklin Institute 354, no. 10 (July 2017): 3995–4012. http://dx.doi.org/10.1016/j.jfranklin.2017.03.014.
Повний текст джерелаLi, Gui Fang, Yong Cheng Sun, and Sheng Guo Huang. "Robust Passivity Control for Uncertain Time-Delayed Systems." Applied Mechanics and Materials 29-32 (August 2010): 2025–30. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.2025.
Повний текст джерелаGallegos, Javier A., Norelys Aguila‐Camacho та Manuel A. Duarte‐Mermoud. "Robust adaptive passivity‐based PI λ D control". International Journal of Adaptive Control and Signal Processing 34, № 11 (12 жовтня 2020): 1572–89. http://dx.doi.org/10.1002/acs.3167.
Повний текст джерелаLoría, Antonio, Gerardo Espinosa-Pérez, and Erik Chumacero. "Robust passivity-based control of switched-reluctance motors." International Journal of Robust and Nonlinear Control 25, no. 17 (November 11, 2014): 3384–403. http://dx.doi.org/10.1002/rnc.3270.
Повний текст джерелаBao, J., P. L. Lee, F. Wang, and W. Zhou. "Robust Process Control Based on the Passivity Theorem." Developments in Chemical Engineering and Mineral Processing 11, no. 3-4 (May 15, 2008): 287–308. http://dx.doi.org/10.1002/apj.5500110407.
Повний текст джерелаDeng, Mingcong, and Ni Bu. "Robust Control for Nonlinear Systems Using Passivity-Based Robust Right Coprime Factorization." IEEE Transactions on Automatic Control 57, no. 10 (October 2012): 2599–604. http://dx.doi.org/10.1109/tac.2012.2188426.
Повний текст джерелаДисертації з теми "Robust passivity"
Abroug, Neil. "Commande robuste multi-variable des systèmes de comanipulation." Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD027/document.
Повний текст джерелаAt the dawn of the fourth industrial revolution, robotic comanipulation is a key technology as it combines the dexterity of the human operator with the power of the machine. This task sharing between human and machine, in an uncertain and previously unknown environment, brings a lot of intrinsic difficulties to the nature of this interaction. This problem has been intensively studied over the last two decades by various research teams, mostly on devices with a single degree of freedom and with strong hypotheses about the controller structure. In this thesis, we deal with the problem of robotic comanipulation through the scope of the structured Hoo control, a framework particularly adapted to multivariable systems and which can be extended to a certain class of non-linear systems – manipulating robots are part of it – through linear parameter varying (LPV) models. The performance and stability requirements specific to comanipulation systems are expressed in terms of Hoo constraints and sector bounds. The control objectives thus formalised are solved by non-smooth optimization in order to take advantage of the particular structures of the comanipulation robot controllers. The validity of the methodology is carried out by intensive simulations and experiments on real devices
Ryalat, Mutaz. "Design and implementation of nonlinear and robust control for Hamiltonian systems : the passivity-based control approach." Thesis, University of Southampton, 2015. https://eprints.soton.ac.uk/398131/.
Повний текст джерелаHui, Xin. "Cascade Control of a Hydraulic Prosthetic Knee." Cleveland State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543.
Повний текст джерелаIhle, Ivar-Andre Flakstad. "Coordinated Control of Marine Craft." Doctoral thesis, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-945.
Повний текст джерелаThis thesis contains new results on the problem of coordinating a group of vehicles. The main motivation driving this work is the development of control laws that steer individual members of a formation, such that desired group behavior emerges. Special attention is paid to analysis of coordination issues, in particular formation control of marine craft where robustness to unknown environmental forces is important. Coordinated control applications for marine craft include: underway replenishment, maintaining a formation for increased safety during travel and instrument resolution, and cooperative transportation. A review of formation control structures is given, together with a discussion of special issues that arise in coordination of independent vehicles.
The main contributions of this thesis may be grouped into two categories:
• Path-following designs for controlling a group of vehicles
• Multi-body motivated formation modeling and control
A previously developed path following design is used to control a group of vehicles by synchronizing the individual path parameters. The path following design is advantageous since the path parameter, i.e., that parameter which determines position along a path, is scalar; hence coordination is achieved with a little amount of real-time communication. The path following design is also extended to the output-feedback case for systems where only parts of the state vector are known. The path following scheme is exploited further in a passivity-based design for coordination where the structural properties render an extended selection of functions for synchronization available. Performance and robustness properties in different operational conditions can be enhanced with a careful selection of these functions. Two designs are presented; a cascaded interconnection where a consensus system provides synchronized path parameters as input to the individual path following systems renders time-varying formations possible and increases robustness to communication problems; a feedback interconnection which is more robust to vehicle failures. Both designs are extended to sampled-data designs where plant and controller dynamics are updated in continuous-time and path parameters are exchanged over a communication network where transmission occurs at discrete intervals. Bias estimation is included to provide integral action against slowlyvarying environmental forces and model uncertainties.
A scheme for formation modeling and control, inspired by analytical mechanics of multi-body systems and Lagrangian multipliers, is proposed. In this approach to formation control, various formation behaviors are determined by imposing constraint functions on group members. Several examples illustrate these formation behaviors. The stabilization scheme presented is made more robust with respect to unknown time-varying disturbances. In addition, the scheme is extended towards adaptive estimation of unknown plant and parameters. Furthermore, it can be applied with no major modifications to the case of position control for a single vehicle.
The formation control scheme is such that it may be used in combination with a set of position control laws for a single vessel, thus enabling the designer to choose from a large class of control laws available in the literature. The input-to-state stability (ISS) framework is utilised to investigate robustness to environmental and communication disturbances. A loop-transform, together with the ISS framework, yields an upper bound on the inter-vessel time delay below which formation stability is maintained.
Romero, Velázquez José Guadalupe. "Commande robuste par façonnement d’énergie de systèmes non-linéaires." Thesis, Paris 11, 2013. http://www.theses.fr/2013PA112019/document.
Повний текст джерелаThis thesis focuses on the design of robust control for nonlinear systems, mainly on mechanical systems. The results presented are to two situations widely discussed in control theory: 1) The stability of nonlinear systems disturbed; 2) The global tracking trajectory in mechanical systems having only knowledge of the position. We started giving a design method of robust controls to ensure regulation on non-passive output. In addition, if the system is perturbed (constant unmatched), rigorous proof to its rejection is provided. This result is based mainly on change of coordinates and integral dynamic control. When the scenario to deal are mechanical systems with time-varying matched and unmatched, disturbance, the system is endowed with strong properties as IISS (Integral Input-State Stable) and ISS (Input-State Stable). This is achieved based on the design method to rejection of constant disturbances (unmatched). However, due to the nonlinearity of the system, the controllers have a high complexity. For the same problem, a second and elegant result is given making a initial change of coordinate on the momenta variable, such that the controller significantly simplifies, preserving the aforementioned robustness properties. Finally, a convincing answer to the problem of global exponential tracking of mechanical systems is given taking into account only the position information. We solve this problem in two steps. First, some slight variation is presented to the proof of stability of a speed observer based on Immersion and Invariance theory recently published. Note that this is a speed observer satisfying the exponential convergence speed in mechanical systems. Secondly, and based on the change of coordinates (momenta), a globally exponentially stable tracking controller with position and velocity known is proposed. The combination of both results give the first global exponential tracking controller of mechanical systems without velocity measurements
Maya, Gonzalez Martin. "Frequency domain analysis of feedback interconnections of stable systems." Thesis, University of Manchester, 2015. https://www.research.manchester.ac.uk/portal/en/theses/frequency-domain-analysis-of-feedback-interconnections-of-stable-systems(c6415a11-3417-48ba-9961-ecef80b08e0e).html.
Повний текст джерелаKasal, Roshan Nivas. "Analysis of Passivity for Compliantly Controlled Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1599138459663234.
Повний текст джерелаJaballah, Belgacem. "Observateurs robustes pour le diagnostic et la dynamique des véhicules." Phd thesis, Université Paul Cézanne - Aix-Marseille III, 2011. http://tel.archives-ouvertes.fr/tel-00734379.
Повний текст джерелаWelge-Lüssen, Tobias Carsten Lutz. "Design of a passively actuated robot manipulator /." Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17701.
Повний текст джерелаMohammed, Ali. "PASSIVITY-BASED TRACKING CONTROL OF A ROBOT MANIPULATOR USING AN EXTENDED STATE OBSERVER." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590253786792864.
Повний текст джерелаКниги з теми "Robust passivity"
T, Wen John, and NASA Center for Intelligent Robotic Systems for Space Exploration., eds. A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm. Troy, NY: NASA Center for Intelligent Robotic Systems for Space Exploration, Rensselaer Polytechnic Institute, 1991.
Знайти повний текст джерелаArimoto, Suguru. Control theory of non-linear mechanical systems: A passivity-based and circuit-theoretic approach. Oxford: Clarendon Press, 1996.
Знайти повний текст джерелаSicard, Pierre. A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm: Annual report. Troy, N. Y: Rensselaer Polytechnic Institute, 1991.
Знайти повний текст джерелаT, Wen John, and United States. National Aeronautics and Space Administration., eds. A family of asymptotically stable control laws for flexible robots based on a passivity approach. Troy, N.Y: Rensselaer Polytechnic Institute, Electrical, Computer, and Systems Engineering, 1991.
Знайти повний текст джерелаChopra, Nikhil, Masayuki Fujita, Takeshi Hatanaka, and Mark W. Spong. Passivity-Based Control and Estimation in Networked Robotics. Springer International Publishing AG, 2016.
Знайти повний текст джерелаChopra, Nikhil, Masayuki Fujita, Takeshi Hatanaka, and Mark W. Spong. Passivity-Based Control and Estimation in Networked Robotics. Springer, 2015.
Знайти повний текст джерелаChopra, Nikhil, Masayuki Fujita, Takeshi Hatanaka, and Mark W. Spong. Passivity-Based Control and Estimation in Networked Robotics. Springer International Publishing AG, 2015.
Знайти повний текст джерелаA family of asymptotically stable control laws for flexible robots based on a passivity approach. Troy, N.Y: Rensselaer Polytechnic Institute, Electrical, Computer, and Systems Engineering, 1991.
Знайти повний текст джерелаЧастини книг з теми "Robust passivity"
Ding, Chunyan, and Qin Li. "Robust Control for Time-Delay Singular Systems Based on Passivity Analysis." In Lecture Notes in Electrical Engineering, 792–802. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-3648-5_100.
Повний текст джерелаArunkumar, A., K. Mathiyalagan, R. Sakthivel, and S. Marshal Anthoni. "Robust Passivity of Fuzzy Cohen-Grossberg Neural Networks with Time-Varying Delays." In Mathematical Modelling and Scientific Computation, 263–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-28926-2_28.
Повний текст джерелаRajchakit, Grienggrai, Praveen Agarwal, and Sriraman Ramalingam. "Robust Finite-Time Passivity of Markovian Jump Discrete-Time BAM Neural Networks." In Stability Analysis of Neural Networks, 341–71. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-6534-9_11.
Повний текст джерелаde la Sen, M. "A robust discrete adaptive control approach based on passivity results for non-linear systems." In Analysis and Optimization of Systems, 786–97. Berlin, Heidelberg: Springer Berlin Heidelberg, 1988. http://dx.doi.org/10.1007/bfb0042264.
Повний текст джерелаOrtega, Romeo, Antonio Loría, Per Johan Nicklasson, and Hebertt Sira-Ramírez. "Feedback interconnected systems: Robots with AC drives." In Passivity-based Control of Euler-Lagrange Systems, 441–65. London: Springer London, 1998. http://dx.doi.org/10.1007/978-1-4471-3603-3_12.
Повний текст джерелаSpong, Mark W. "The Passivity Paradigm in the Control of Bipedal Robots." In Climbing and Walking Robots, 775–86. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_76.
Повний текст джерелаHatanaka, T., N. Chopra, J. Yamauchi, and M. Fujita. "A Passivity-Based Approach to Human–Swarm Collaboration and Passivity Analysis of Human Operators." In Trends in Control and Decision-Making for Human–Robot Collaboration Systems, 325–55. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-40533-9_14.
Повний текст джерелаStauter, Peter, Hubert Gattringer, Wolfgang Höbart, and Hartmut Bremer. "Passivity Based Backstepping Control of an Elastic Robot." In ROMANSY 18 Robot Design, Dynamics and Control, 315–22. Vienna: Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_37.
Повний текст джерелаvan Breugel, Floris, Zhi Ern Teoh, and Hod Lipson. "A Passively Stable Hovering Flapping Micro-Air Vehicle." In Flying Insects and Robots, 171–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-540-89393-6_13.
Повний текст джерелаStaufer, Peter, and Hubert Gattringer. "Passivity-Based Tracking Control of a Flexible Link Robot." In Multibody System Dynamics, Robotics and Control, 95–112. Vienna: Springer Vienna, 2012. http://dx.doi.org/10.1007/978-3-7091-1289-2_6.
Повний текст джерелаТези доповідей конференцій з теми "Robust passivity"
Cruz, Francisco Panuncio, and Wen Yu. "Robust feedback passivity via dynamic neural networks." In 2013 International Joint Conference on Neural Networks (IJCNN 2013 - Dallas). IEEE, 2013. http://dx.doi.org/10.1109/ijcnn.2013.6707089.
Повний текст джерелаMcCourt, Michael J., Zachary I. Bell, and Scott A. Nivison. "Passivity-Based Target Tracking Robust to Intermittent Measurements." In 2022 American Control Conference (ACC). IEEE, 2022. http://dx.doi.org/10.23919/acc53348.2022.9867737.
Повний текст джерелаS., Shirouchi, and Murakami T. "Robust Motion Control in Mechanical System with Passivity." In 4th Asia International Symposium on Mechatronics. Singapore: Research Publishing Services, 2010. http://dx.doi.org/10.3850/978-981-08-7723-1_p142.
Повний текст джерелаChen, Wei-Zhong, Yan-Li Huang, Jin-Liang Wang, and Shun-Yan Ren. "Passivity and robust passivity of reaction-diffusion Cohen-Grossberg neural networks with multiple time-varying delays." In 2017 29th Chinese Control And Decision Conference (CCDC). IEEE, 2017. http://dx.doi.org/10.1109/ccdc.2017.7978063.
Повний текст джерелаGustavsen, Bjorn. "Robust passivity enforcement of frequency dependent transmission line models." In 2007 IEEE Workshop on Signal Propagation on Interconnects. IEEE, 2007. http://dx.doi.org/10.1109/spi.2007.4512241.
Повний текст джерелаSerrano, Javier, Santiago Cobreces, Emilio J. Bueno, and Mario Rizo. "Passivity-based Robust Current Control of Grid-connected VSCs." In 2020 IEEE Applied Power Electronics Conference and Exposition (APEC). IEEE, 2020. http://dx.doi.org/10.1109/apec39645.2020.9124599.
Повний текст джерелаBu, Ni, and Mingcong Deng. "Passivity-based robust control for uncertain nonlinear feedback systems." In 2015 International Conference on Advanced Mechatronic Systems (ICAMechS). IEEE, 2015. http://dx.doi.org/10.1109/icamechs.2015.7287131.
Повний текст джерелаMahmood, Zohaib, Alessandro Chinea, Giuseppe C. Calafiore, Stefano Grivet-Talocia, and Luca Daniel. "Robust localization methods for passivity enforcement of linear macromodels." In 2013 17th IEEE Workshop on Signal and Power Integrity (SPI). IEEE, 2013. http://dx.doi.org/10.1109/sapiw.2013.6558312.
Повний текст джерелаMansouri, A., M. Chenafa, A. Bouhenna, A. Belaidi, and E. Etein. "Passivity based control with robust observer for induction motor." In 2004 IEEE International Symposium on Industrial Electronics. IEEE, 2004. http://dx.doi.org/10.1109/isie.2004.1572013.
Повний текст джерелаMihaly, Vlad, Mircea Susca, Dora Morar, and Petru Dobra. "Polytopic Robust Passivity Cascade Controller Design for Nonlinear Systems." In 2022 European Control Conference (ECC). IEEE, 2022. http://dx.doi.org/10.23919/ecc55457.2022.9838073.
Повний текст джерела