A Passivity Based Command-Governor Control Approach

Alessandro Casavola; Michela Sorbara; Stefano Stramigioli

doi:10.3182/20060906-3-IT-2910.00091

A Passivity Based Command-Governor Control Approach

Alessandro Casavola
, Michela Sorbara
, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

5 Downloads (Pure)

Abstract

In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.

Original language	Undefined
Title of host publication	Proceeding of the 8th International IFAC Symposium on Robot Control
Publisher	IFAC
Pages	Paper 91
Number of pages	6
ISBN (Print)	978-3-902661-16-6
DOIs	https://doi.org/10.3182/20060906-3-IT-2910.00091
Publication status	Published - Sept 2006
Event	8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy Duration: 6 Sept 2006 → 8 Sept 2006 Conference number: 8

Publication series

Name
Publisher	IFAC
Number	1
Volume	8

Conference

Conference	8th International IFAC Symposium on Robot Control, SYROCO 2006
Abbreviated title	SYROCO
Country/Territory	Italy
City	Bologna
Period	6/09/06 → 8/09/06

Keywords

IR-62278
EWI-12667
CE-Advanced Robotics
METIS-248245

Access to Document

10.3182/20060906-3-IT-2910.00091

Cite this

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title = "A Passivity Based Command-Governor Control Approach",

abstract = "In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.",

keywords = "IR-62278, EWI-12667, CE-Advanced Robotics, METIS-248245",

author = "Alessandro Casavola and Michela Sorbara and Stefano Stramigioli",

year = "2006",

month = sep,

doi = "10.3182/20060906-3-IT-2910.00091",

language = "Undefined",

isbn = "978-3-902661-16-6",

publisher = "IFAC",

number = "1",

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AU - Casavola, Alessandro

AU - Sorbara, Michela

AU - Stramigioli, Stefano

N1 - Conference code: 8

PY - 2006/9

Y1 - 2006/9

N2 - In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.

AB - In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.

KW - IR-62278

KW - EWI-12667

KW - CE-Advanced Robotics

KW - METIS-248245

U2 - 10.3182/20060906-3-IT-2910.00091

DO - 10.3182/20060906-3-IT-2910.00091

M3 - Conference contribution

SN - 978-3-902661-16-6

SP - Paper 91

BT - Proceeding of the 8th International IFAC Symposium on Robot Control

PB - IFAC

T2 - 8th International IFAC Symposium on Robot Control, SYROCO 2006

Y2 - 6 September 2006 through 8 September 2006

ER -