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Bilateral teleoperation of stochastic port‐Hamiltonian systems using energy tanks
Author(s) -
Cordoni Francesco,
Di Persio Luca,
Muradore Riccardo
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5780
Subject(s) - passivity , teleoperation , control theory (sociology) , hamiltonian system , computer science , port (circuit theory) , hamiltonian (control theory) , energy (signal processing) , robot , engineering , mathematical optimization , mathematics , mechanical engineering , electrical engineering , control (management) , statistics , artificial intelligence , mathematical physics
Abstract In this article we consider the general problem of how to properly endow a stochastic port‐Hamiltonian system (SPHS) with an energy tank, that is an energy reservoir that allows to guarantee the passivity property. We show that a stochastic bilateral teleoperation system, composed by a master robot and a slave robot modeled as SPHS, can be connected in a power‐preserving manner to energy tanks. The stored energy is continuously monitored to keep the system passive despite time‐varying communication delays and interaction with unknown environment that may destabilize the overall system. We will address latter problem considering a SPHS affected by a noise composed by a linear, multiplicative component in Itô form plus an additive one. We underline that such a scenario requires the introduction of an ad hoc notion of passivity.