Duality and Network Theory in Passivity-based Cooperative Control

This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equilibrium independent passivity is introduced and it is shown that networks of systems possessing this property asymptotically approach the solutions of a dual pair of network optimization problems, namely an optimal potential and an optimal flow problem. This connection leads to an interpretation of the dynamic variables, such as system inputs and outputs, to variables in a network optimization framework, such as divergences and potentials, and reveals that several duality relations known in convex network optimization theory translate directly to passivity-based cooperative control problems. The presented results establish a strong and explicit connection between passivity-based cooperative control theory on the one side and network optimization theory on the other, and they provide a unifying framework for network analysis and optimal design. The results are illustrated on a nonlinear traffic dynamics model that is shown to be asymptotically clustering.Comment: submitted to Automatica (revised version

Ethical Passivity between Maximal and Minimal Meanings

This paper is a critical review of the most relevant studies about the Levinasian concept of passivity. The purpose is to follow the way in which Levinas’s scholars have dealt with the following aspects: the relation between ethical passivity and the possibility of effective ethical agency, the origin of passivity, and the validity of ethical passivity in the public sphere. As a starting point for future research, I finally argue that the best way to read Levinas’s passive ethics is through the dynamism between maximums and minimums present within it. This means that without sacrificing the omni comprehensive view of divine revelation and Jewish tradition, Levinas presents ethics as rationally understandable by everyone and philosophically defensible. Despite being biblically based, Levinas does not appeal to authority in supporting his view, he is confident in arguing rationally. This account could place Levinas in the way of public ethics, which consists in an ethos shared by all members of democratic societies. These minimums of justice could be the way to universalize Levinas’s ethics

Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operato