Passivity Based

Passivity-based control (PBC) focuses on designing controllers that guarantee stability and robustness by ensuring a system's inherent energy dissipation properties. Current research emphasizes extending PBC to handle complex tasks, such as multi-task control in robotics and optimization problems, often leveraging neural networks and optimization-based approaches within port-Hamiltonian system frameworks. This methodology is proving valuable in diverse applications, including robotics (variable impedance control, human-robot interaction, and collaborative grasping), and optimization algorithms, by providing a framework for designing controllers with guaranteed stability and performance.