Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis

• URL: http://arxiv.org/abs/2605.24731v1
• Date: Sat, 23 May 2026 20:49:32 GMT
• Title: Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis
• Abstract summary: This paper presents a novel passivity-based semi-autonomous attitude control framework.<n>We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator.<n>We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system.
• Score: 1.357291726431012
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this analysis, simulation studies are conducted to identify the human operator as a dynamical system, and to examine passivity properties of the identified model.

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