Authors

S. Stramigioli, C. Secchi, A.J. van der Schaft, C. Fantuzzi

Abstract

In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in . This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.

Citation

  • Journal: IEEE Transactions on Robotics
  • Year: 2005
  • Volume: 21
  • Issue: 4
  • Pages: 574–587
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • DOI: 10.1109/tro.2004.842330

BibTeX

@article{Stramigioli_2005,
  title={{Sampled data systems passivity and discrete port-Hamiltonian systems}},
  volume={21},
  ISSN={1552-3098},
  DOI={10.1109/tro.2004.842330},
  number={4},
  journal={IEEE Transactions on Robotics},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Stramigioli, S. and Secchi, C. and van der Schaft, A.J. and Fantuzzi, C.},
  year={2005},
  pages={574--587}
}

Download the bib file

References

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