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.
Bilateral teleoperation of stochastic port-Hamiltonian systems using energy tanks / Cordoni, F.; Di Persio, L.; Muradore, R.. - In: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL. - ISSN 1049-8923. - 31:18(2021), pp. 9332-9357. [10.1002/rnc.5780]
Bilateral teleoperation of stochastic port-Hamiltonian systems using energy tanks
Cordoni F.;Di Persio L.;
2021-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione