Intrinsically passive control using sampled data system passivity

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    Abstract

    In this chapter, which is a distilled version of [271], we present a novel way to approach the interconnection of a continuous and a discrete time physical system firstly presented in [270, 268, 257]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master-slave system on a digital transmission line with varying time delays and possible loss of packets (e.g. the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.
    Original languageUndefined
    Title of host publicationMulti-point interaction with real and virual objects
    EditorsF. Barbagli, D. Prattichizzo, K. Salisbury
    Place of PublicationBerlin
    PublisherSpringer
    Pages215-229
    Number of pages15
    ISBN (Print)978-3-540-26036-3
    DOIs
    Publication statusPublished - Jul 2005

    Publication series

    Name18
    PublisherSpringer

    Keywords

    • IR-66974
    • METIS-231052
    • EWI-9376

    Cite this

    Stramigioli, S. (2005). Intrinsically passive control using sampled data system passivity. In F. Barbagli, D. Prattichizzo, & K. Salisbury (Eds.), Multi-point interaction with real and virual objects (pp. 215-229). (18). Berlin: Springer. https://doi.org/10.1007/11429555_14