Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories

被引：1
作者：
Secchi, C. [1 ]
Sabattini, L. [1 ]
Fantuzzi, C. [1 ]
机构：
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Reggio Emilia, Italy
来源：
IFAC PAPERSONLINE | 2015年 / 48卷 / 13期
关键词：
port-Hamiltonian systems; control; teleoperation; stability; passivity; PASSIVITY;
D O I：
10.1016/j.ifacol.2015.10.216
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we exploit port-Hamiltonian systems for building a novel teleoperation architecture for a group of mobile agents that need track a set of predefined 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. (C) 2015, ILAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：69 / 74
页数：6
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