By Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Highlighting the regulate of networked robot platforms, this e-book synthesizes a unified passivity-based method of an rising cross-disciplinary topic. due to this unified technique, readers can entry a number of cutting-edge learn fields by means of learning simply the history foundations linked to passivity. as well as the theoretical effects and methods, the authors offer experimental case reports on testbeds of robot structures together with networked haptic units, visible robot platforms, robot community platforms and visible sensor community systems.
The textual content starts with an advent to passivity and passivity-based keep an eye on including the opposite foundations wanted during this booklet. the most physique of the publication includes 3 components. the 1st examines how passivity can be used for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller opposed to communique delays. the second one half emphasizes passivity’s usefulness for visible suggestions regulate and estimation. Convergence is conscientiously proved even if different passive elements are interconnected. The passivity procedure can also be differentiated from different methodologies. The 3rd half offers the unified passivity-based control-design technique for multi-agent platforms. This scheme is proven to be both instantly appropriate or simply extendable to the answer of varied movement coordination difficulties together with 3-D attitude/pose synchronization, flocking keep an eye on and cooperative movement estimation.
Academic researchers and practitioners operating in platforms and keep an eye on and/or robotics will delight in the possibility of the based and novel method of the keep watch over of networked robots awarded right here. The constrained history required and the case-study paintings defined additionally make the textual content applicable for and, it really is was hoping, inspiring to students.
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Extra resources for Passivity-Based Control and Estimation in Networked Robotics
A matrix A ∈ Rn×n is said to be positive definite if it is symmetric (A = A T ) and x T Ax > 0 ∀x = 0. 1 Passivity 37 Before closing this subsection, we finally present one more example of passive systems, namely single integrator described as x˙ = u y=x with x, y, u ∈ Rn . Define the storage function S(x) = derivative of S along the system trajectories is given by 1 2 S˙ = x T x˙ = y T u, x 2. 13) which means passivity of the system. 2 Passivity Preservation for Interconnections One of the most important properties of passivity is its preservation in terms of interconnections.
1 Passivity This section defines passivity, which is a central concept of this book, and points out its preservation with respect to feedback and parallel interconnections. The contents of this section are based on the books [19, 39, 279, 297, 318]. 1 Definition of Passivity Let us first consider a system H illustrated in Fig. 1 with input u(t) ∈ R p and output y(t) ∈ R p , t ∈ R+ , R+ := [0, ∞), where H is regarded as a mapping from an input signal space U to an output signal space Y. Then, passivity of the map is defined as below.
More technically, in , the Lyapunov function to prove synchronization is constructed from the sum of the storage functions of the individual agents and an energy function defined over the relative outputs among neighboring agents. On the other hand,  defines the Lyapunov function by simply collecting the individual storage functions. In this book, we focus on the approach presented in . Chapter 8 presents a general framework of unified passivity-based cooperative control strategy, which was originally presented in .
Passivity-Based Control and Estimation in Networked Robotics by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong