Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories
Conference Paper
Publication Date:
2015
Short description:
Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories / Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare. - 28:13(2015), pp. 69-74. ( 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015 Lyon 4-7 July 2015) [10.1016/j.ifacol.2015.10.216].
abstract:
In this paper, we exploit port-Hamiltonian systems for building a novel teleoperation
architecture for a group of mobile agents that need to track a set of prede_ned trajectories.
Using port-Hamiltonian system we can guarantee an intrinsically safe and passive bilateral
teleoperation system while using linear regulation system we can ensure an asymptotic
tracking. The performance of the teleoperation system are evaluated by means of
experiments.
Iris type:
Relazione in Atti di Convegno
Keywords:
Control; Passivity; Port-hamiltonian systems; Stability; Teleoperation;
List of contributors:
Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare
Book title:
Proceedings of LHMNLC
Published in: