Bilateral teleoperation of stochastic port‐Hamiltonian systems using energy tanks

Authors

Francesco Cordoni, Luca Di Persio, Riccardo Muradore

Abstract

In this article we consider the general problem of how to properly endow a stochastic port‐Hamiltonian system (SPHS) with an energy tank, that is an energy reservoir that allows to guarantee the passivity property. We show that a stochastic bilateral teleoperation system, composed by a master robot and a slave robot modeled as SPHS, can be connected in a power‐preserving manner to energy tanks. The stored energy is continuously monitored to keep the system passive despite time‐varying communication delays and interaction with unknown environment that may destabilize the overall system. We will address latter problem considering a SPHS affected by a noise composed by a linear, multiplicative component in Itô form plus an additive one. We underline that such a scenario requires the introduction of an ad hoc notion of passivity.

Citation

• Journal: International Journal of Robust and Nonlinear Control
• Year: 2021
• Volume: 31
• Issue: 18
• Pages: 9332–9357
• Publisher: Wiley
• DOI: 10.1002/rnc.5780

BibTeX

@article{Cordoni_2021,
  title={{Bilateral teleoperation of stochastic port‐Hamiltonian systems using energy tanks}},
  volume={31},
  ISSN={1099-1239},
  DOI={10.1002/rnc.5780},
  number={18},
  journal={International Journal of Robust and Nonlinear Control},
  publisher={Wiley},
  author={Cordoni, Francesco and Di Persio, Luca and Muradore, Riccardo},
  year={2021},
  pages={9332--9357}
}

Download the bib file

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