2020 |
Seungjoon Lee / Hongkeun Kim Synchronization of Lur'e-type Nonlinear Systems using Incremental Output-feedback Passivity with Shortage of Passivity Proceedings Article In: Proc. of 20th International Conference on Control, Automation and Systems (ICCAS), IEEE, Busan, Korea, 2020. Abstract | Links | BibTeX | Tags: Multi-agent systems, Passivity, Synchronization @inproceedings{LeeKim20, This paper studies the synchronization problem of Lur’e-type nonlinear systems. For the analysis, the concept of incremental output-feedback passivity (iOFP) is introduced and generalized using the shortage of passivity. It is shown that Lur’e-type nonlinear system is iOFP and examples are presented. Using iOFP, a sufficient condition (which is in form of sector condition) is proposed for the Lur’e-type nonlinear systems to achieve the synchronization using static output diffusive couplings. Results are further extended to nonlinear coupling under fully connected network. Numerical simulations are given to demonstrate the proposed results. |
2002 |
Young Ik Son / Hyungbo Shim / Jin Heon Seo Set-point control of elastic joint robots using only position measurements Journal Article In: KSME International Journal, vol. 16, no. 1079, pp. 1079-1088, 2002, ISSN: 1738-494X. Abstract | Links | BibTeX | Tags: Passivity @article{SonShimSep02, Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints. |
List of English Publication
2020 |
Synchronization of Lur'e-type Nonlinear Systems using Incremental Output-feedback Passivity with Shortage of Passivity Proceedings Article In: Proc. of 20th International Conference on Control, Automation and Systems (ICCAS), IEEE, Busan, Korea, 2020. |
2002 |
Set-point control of elastic joint robots using only position measurements Journal Article In: KSME International Journal, vol. 16, no. 1079, pp. 1079-1088, 2002, ISSN: 1738-494X. |