Geometric scattering in tele-manipulation of port controlled Hamiltonian systems

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

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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 languageEnglish
Title of host publicationProceedings of the 39th IEEE Conference on Decision and Control
Pages5108-5113
Number of pages6
Volume5
DOIs
Publication statusPublished - 1 Jan 2002
Externally publishedYes
Event39th IEEE Conference on Decision and Control, CDC 2000 - Sydney Convention and Exhibition Centre , Sydney, Australia
Duration: 12 Dec 200015 Dec 2000
Conference number: 39

Conference

Conference39th IEEE Conference on Decision and Control, CDC 2000
Abbreviated titleCDC
CountryAustralia
CitySydney
Period12/12/0015/12/00

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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