Passivity-based control and estimation in networked robotics
Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associat...
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2015
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oai:scholar.dlu.edu.vn:DLU123456789-587322023-11-11T06:19:16Z Passivity-based control and estimation in networked robotics Takeshi Hatanaka Nikhil Chopra Masayuki Fujita Robots Control systems Engineering Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity?s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. 2015-10-05T08:34:40Z 2015-10-05T08:34:40Z 2015 Book 978-3-319-15171-7 https://scholar.dlu.edu.vn/thuvienso/handle/DLU123456789/58732 en application/pdf Springer |
| institution |
Thư viện Trường Đại học Đà Lạt |
| collection |
Thư viện số |
| language |
English |
| topic |
Robots Control systems Engineering |
| spellingShingle |
Robots Control systems Engineering Takeshi Hatanaka Nikhil Chopra Masayuki Fujita Passivity-based control and estimation in networked robotics |
| description |
Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity?s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. |
| format |
Book |
| author |
Takeshi Hatanaka Nikhil Chopra Masayuki Fujita |
| author_facet |
Takeshi Hatanaka Nikhil Chopra Masayuki Fujita |
| author_sort |
Takeshi Hatanaka |
| title |
Passivity-based control and estimation in networked robotics |
| title_short |
Passivity-based control and estimation in networked robotics |
| title_full |
Passivity-based control and estimation in networked robotics |
| title_fullStr |
Passivity-based control and estimation in networked robotics |
| title_full_unstemmed |
Passivity-based control and estimation in networked robotics |
| title_sort |
passivity-based control and estimation in networked robotics |
| publisher |
Springer |
| publishDate |
2015 |
| url |
https://scholar.dlu.edu.vn/thuvienso/handle/DLU123456789/58732 |
| _version_ |
1782535278524628992 |