Authors

S. Stramigioli, A. van der Schaft, B. Maschke, S. Andreotti, C. Melchiorri

Abstract

We study the interconnection of two port controlled Hamiltonian systems through a transmission line with delay. The contributions of the paper are firstly a geometrical, multi-dimensional, power consistent exposition of tele-manipulation of intrinsically passive controlled (IPC) physical systems (Stramigioli 1998, Stramigioli et al. 1999), with a clarification on impedance matching, and secondly a system theoretic condition for the adaptation of a general port controlled Hamiltonian system with dissipation (PCHD system) to a transmission line. To the knowledge of the authors, the latter result in particular has never appeared in such a general form. Experimental results on an Internet implementation are also presented.

Citation

  • Journal: Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)
  • Year: 2002
  • Volume: 5
  • Issue:
  • Pages: 5108–5113
  • Publisher: IEEE
  • DOI: 10.1109/cdc.2001.914760

BibTeX

@inproceedings{Stramigioli,
  series={CDC-00},
  title={{Geometric scattering in tele-manipulation of port controlled Hamiltonian systems}},
  volume={5},
  DOI={10.1109/cdc.2001.914760},
  booktitle={{Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)}},
  publisher={IEEE},
  author={Stramigioli, S. and van der Schaft, A. and Maschke, B. and Andreotti, S. and Melchiorri, C.},
  pages={5108--5113},
  collection={CDC-00}
}

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