Sampled Data Systems Passivity and Discrete Port-Hamiltonian Systems

Stefano Stramigioli, Cristian Secchi, Arjan van der Schaft, Cesare Fantuzzi

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    Abstract

    In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. 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
    Pages (from-to)574-587
    Number of pages14
    JournalIEEE transactions on robotics and automation
    Volume21
    Issue number4
    DOIs
    Publication statusPublished - 2005

    Keywords

    • METIS-228023
    • CE-Advanced Robotics
    • EWI-12687
    • IR-54220

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