Abstract
In this paper 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.
| Original language | English |
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| Title of host publication | Proceedings of the 39th IEEE Conference on Decision and Control |
| Pages | 5108-5113 |
| Number of pages | 6 |
| Volume | 5 |
| DOIs | |
| Publication status | Published - 1 Jan 2002 |
| Externally published | Yes |
| Event | 39th IEEE Conference on Decision and Control, CDC 2000 - Sydney Convention and Exhibition Centre , Sydney, Australia Duration: 12 Dec 2000 → 15 Dec 2000 Conference number: 39 |
Conference
| Conference | 39th IEEE Conference on Decision and Control, CDC 2000 |
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| Abbreviated title | CDC |
| Country | Australia |
| City | Sydney |
| Period | 12/12/00 → 15/12/00 |
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Cite this
Stramigioli, S., Schaft, A. V. D., Maschke, B., Andreotti, S., & Melchiorri, C. (2002). Geometric scattering in tele-manipulation of port controlled Hamiltonian systems. In Proceedings of the 39th IEEE Conference on Decision and Control (Vol. 5, pp. 5108-5113) https://doi.org/10.1109/CDC.2001.914760