Energy-guarded Loop-control Architecture

Reynaldo Cobos Mendez, Jan Broenink, Douwe Dresscher

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Passivity is a sufficient condition for system stability and is particularly convenient in loop-control design. This paper presents an architecture for composing and structuring loop controllers out of generic components with preserved passivity properties. This allows handling passivity at a structural level by monitoring the energy flows. A use case shows how this architecture preserves the passivity and, in consequence, the stability of a robotic system operating under detrimental conditions. This effort facilitates generating loop-control software which passivity is unaffected by its composition and/or operation conditions.

Original languageEnglish
Title of host publication2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Number of pages8
ISBN (Electronic)978-1-6654-1308-4
Publication statusPublished - 25 Aug 2022


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