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 proceedingConference contributionAcademicpeer-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 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

Fingerprint

Hamiltonians
Hamiltonian Systems
Manipulation
Electric lines
Scattering
Transmission Line
Internet
Interconnection
Impedance
Dissipation
Experimental Results

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
Stramigioli, S. ; Schaft, A. V.D. ; Maschke, B. ; Andreotti, S. ; Melchiorri, C. / Geometric scattering in tele-manipulation of port controlled Hamiltonian systems. Proceedings of the 39th IEEE Conference on Decision and Control. Vol. 5 2002. pp. 5108-5113
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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 proceedingConference contributionAcademicpeer-review

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Stramigioli S, Schaft AVD, Maschke B, Andreotti S, Melchiorri C. Geometric scattering in tele-manipulation of port controlled Hamiltonian systems. In Proceedings of the 39th IEEE Conference on Decision and Control. Vol. 5. 2002. p. 5108-5113 https://doi.org/10.1109/CDC.2001.914760