{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/passivity-based-gain-scheduled-control-with","title":"Passivity-Based Gain-Scheduled Control with Scheduling Matrices","arxiv_id":"2408.06476","date":"2024-08-12","proceeding":null,"authors":["Sepehr Moalemi","James Richard Forbes"],"abstract":"This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals.","url_abs":"https://arxiv.org/abs/2408.06476v1","url_pdf":"https://arxiv.org/pdf/2408.06476v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"passivity-based-gain-scheduled-control-with","repo_url":"https://github.com/decargroup/matrix_scheduling_vsp_controllers","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"scheduling","task_name":"Scheduling"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}