Authors

C. Secchi, L. Sabattini, C. Fantuzzi

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.

Keywords

port-Hamiltonian systems; control; teleoperation; stability; passivity

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2015
  • Volume: 48
  • Issue: 13
  • Pages: 69–74
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2015.10.216
  • Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015

BibTeX

@article{Secchi_2015,
  title={{Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.10.216},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Secchi, C. and Sabattini, L. and Fantuzzi, C.},
  year={2015},
  pages={69--74}
}

Download the bib file

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