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. - 2021:(2021). [10.1002/rnc.5780]

Bilateral teleoperation of stochastic port-Hamiltonian systems using energy tanks

Cordoni F.;Di Persio L.;
2021

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.
Cordoni, F.; Di Persio, L.; Muradore, R.
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. - 2021:(2021). [10.1002/rnc.5780]
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11572/322952
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