Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems

P. Arcara, C. Melchiorri, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    8 Citations (Scopus)
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    In the literature, a number of interesting control schemes has been proposed for telemanipulation robotic systems. Because of the intrinsically non constant and large time delay, due to the communication channel, passivity has been largely used in these schemes in order to achieve stability of the overall teleoperation system. In this paper, the application to this context of a control scheme based on the equivalence with passive physical systems is discussed. This scheme allows to achieve stability and good performances also in cases where the time-delay is not constant. Moreover, the multi-dimensional case is taken into account, considering tasks in which not only linear motions/forces are present but also rotations and torques. Simulation results are presented and discussed.
    Original languageEnglish
    Title of host publicationEuropean Control Conference (ECC 2001)
    Subtitle of host publication4-7 Sept. 2001
    Place of PublicationPiscataway, NJ
    Number of pages6
    ISBN (Print)978-3-9524173-6-2
    Publication statusPublished - 2001
    Event2001 European Control Conference, ECC 2001 - Porto, Portugal
    Duration: 4 Sept 20017 Sept 2001


    Conference2001 European Control Conference, ECC 2001
    Abbreviated titleECC


    • METIS-201514


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