Geometric scattering in tele-manipulation of port controlled Hamiltonian systems

S. Stramigioli; A. van der 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. van der Schaft
, B. Maschke
, S. Andreotti
, C. Melchiorri

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

12 Citations (Scopus)

13 Downloads (Pure)

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 2000
Publisher	IEEE
Pages	5108-5113
Number of pages	6
Volume	5
ISBN (Print)	0-7803-6638-7
DOIs	https://doi.org/10.1109/CDC.2001.914760
Publication status	Published - 1 Jan 2002
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

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Publisher	IEEE
Number	39
Volume	2000
ISSN (Print)	0191-2216

Conference

Conference	39th IEEE Conference on Decision and Control, CDC 2000
Abbreviated title	CDC
Country/Territory	Australia
City	Sydney
Period	12/12/00 → 15/12/00

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10.1109/CDC.2001.914760

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Stramigioli, S., van der Schaft, A., 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 2000 (Vol. 5, pp. 5108-5113). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2000, No. 39). IEEE. https://doi.org/10.1109/CDC.2001.914760

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title = "Geometric scattering in tele-manipulation of port controlled Hamiltonian systems",

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.",

author = "S. Stramigioli and \{van der Schaft\}, A. and B. Maschke and S. Andreotti and C. Melchiorri",

year = "2002",

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Stramigioli, S, van der Schaft, A, 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 2000. vol. 5, Proceedings of the IEEE Conference on Decision and Control, no. 39, vol. 2000, IEEE, pp. 5108-5113, 39th IEEE Conference on Decision and Control, CDC 2000, Sydney, New South Wales, Australia, 12/12/00. https://doi.org/10.1109/CDC.2001.914760

Geometric scattering in tele-manipulation of port controlled Hamiltonian systems. / Stramigioli, S.; van der Schaft, A.; Maschke, B. et al.
Proceedings of the 39th IEEE Conference on Decision and Control 2000. Vol. 5 IEEE, 2002. p. 5108-5113 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2000, No. 39).

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

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N2 - 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.

AB - 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.

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Geometric scattering in tele-manipulation of port controlled Hamiltonian systems

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