Multi-dimensional passive sampled Port-Hamiltonian systems

M.C.J. Franken, Rob Reilink, Sarthak Misra, Stefano Stramigioli

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

    Abstract

    Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multi-dimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.
    Original languageEnglish
    Title of host publication2010 IEEE International Conference on Robotics and Automation
    PublisherIEEE Robotic and Automation Society
    Pages1320-1326
    Number of pages7
    ISBN (Print)978-1-4244-5038-1
    DOIs
    Publication statusPublished - 3 May 2010
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States
    Duration: 3 May 20107 May 2010

    Conference

    Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Abbreviated titleICRA
    CountryUnited States
    CityAnchorage
    Period3/05/107/05/10

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    Keywords

    • EWI-18172
    • METIS-270923

    Cite this

    Franken, M. C. J., Reilink, R., Misra, S., & Stramigioli, S. (2010). Multi-dimensional passive sampled Port-Hamiltonian systems. In 2010 IEEE International Conference on Robotics and Automation (pp. 1320-1326). IEEE Robotic and Automation Society. https://doi.org/10.1109/ROBOT.2010.5509268