Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces.

Haptic devices are designed to assist humans in operating tasks in a remote or virtual environment. The passivity-based controllers feed back the forces from the environment while maintaining stability. This article presents the adaptive energy reference time domain passivity approach to overcome the sudden force change inherent in the conventional time domain passivity approach (TDPA).

Robust Approximate Dynamic Programming for Nonlinear Systems With Both Model Error and External Disturbance.

Model error and external disturbance have been separately addressed by optimizing the definite H performance in standard linear H control problems. However, the concurrent handling of both introduces uncertainty and nonconvexity into the H performance, posing a huge challenge for solving nonlinear problems. This article introduces an additional cost function in the augmented Hamilton-Jacobi-Isaacs (HJI) equation of zero-sum games to simultaneously manage the model error and external disturbance in nonlinear robust performance problems.