Geometric scattering in tele-manipulation of port controlled Hamiltonian systems

S. Stramigioli; A. V.D. Schaft; B. Maschke; S. Andreotti; C. Melchiorri

doi:10.1109/CDC.2001.914760

Geometric scattering in tele-manipulation of port controlled Hamiltonian systems

S. Stramigioli, A. V.D. Schaft, B. Maschke, S. Andreotti, C. Melchiorri

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

11 Citations (Scopus)

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
Title of host publication	Proceedings of the 39th IEEE Conference on Decision and Control
Pages	5108-5113
Number of pages	6
Volume	5
DOIs	https://doi.org/10.1109/CDC.2001.914760
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
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

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Stramigioli, S, Schaft, AVD, 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, 39th IEEE Conference on Decision and Control, CDC 2000, Sydney, Australia, 12/12/00. https://doi.org/10.1109/CDC.2001.914760

Geometric scattering in tele-manipulation of port controlled Hamiltonian systems. / Stramigioli, S.; Schaft, A. V.D.; Maschke, B.; Andreotti, S.; Melchiorri, C.

Proceedings of the 39th IEEE Conference on Decision and Control. Vol. 5 2002. p. 5108-5113.

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

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Access to Document

10.1109/CDC.2001.914760

Link to publication in Scopus