Power scaling in port-Hamiltonian telemanipulation over packet switched networks

The aim of this contribution is to provide a communication strategythat allows power scaling over a packet switched communication channel in a digital port-Hamiltonian based telemanipulation scheme. We will firstly prove that in case of negligible communication delay, power scaling can beachieved without compromising the stable behavior of the telemanipulationscheme. Secondly, we will propose a novel scattering based communicationstrategy that allows to scale the power exchanged also in case of non negligiblecommunication delay. Finally we will consider the problem of loss of packetsin the communication; we will show that if lost packets are not properly handledthe system can become unstable and then we will propose a strategy thatpreserves the stable behavior of the overall scheme independently of the lossof packets.