1. Robust Passivity-Based Voltage Control of Robot Manipulators

H. Chenarani; M.M. Fateh

Volume 7, Issue 2 , Summer and Autumn 2019, , Pages 145-154

  Background and Objectives: This paper presents a robust passivity-based voltage controller (PBVC) for robot manipulators with n degree of freedom in the presence of model uncertainties and external disturbance. Methods: The controller design procedure is divided into two steps. First, a model-based controller ...  Read More

2. Passivity-Based Stability Analysis and Robust Practical Stabilization of Nonlinear Affine Systems with Non-vanishing Perturbations

H. Chenarani; T. Binazadeh

Volume 4, Issue 1 , Winter and Spring 2016, , Pages 39-47

  This paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. The given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. ...  Read More