In this paper we address the problem of implementing a stochastic variable admittance control. Both the variable part of the admittance control and the noise affecting the system may concur to the instability of the system. We propose an energy tank approach, based on the theory of stochastic port-Hamiltonian systems and weak passivity, where the energy dissipated by the stochastic system, if any, is stored into the tank to implement the desired actions. As we consider a non-vanishing noise, we need to consider weaker notion of passivity and convergence. We will show how the notion of weak passivity can be properly defined so that equipping a stochastic system with a suitable energy tank, variable admittance control can be efficiently implemented. We prove that the overall system is weakly passive and it converges toward an invariant measure. Simulation results show the effectiveness of the derived theoretical framework.

A variable stochastic admittance control framework with energy tank / Cordoni, F.; Di Persio, L.; Muradore, R.. - 53:2(2020), pp. 9986-9991. (Intervento presentato al convegno 21st IFAC World Congress 2020 tenutosi a deu nel 2020) [10.1016/j.ifacol.2020.12.2716].

A variable stochastic admittance control framework with energy tank

Cordoni F.;Di Persio L.;
2020-01-01

Abstract

In this paper we address the problem of implementing a stochastic variable admittance control. Both the variable part of the admittance control and the noise affecting the system may concur to the instability of the system. We propose an energy tank approach, based on the theory of stochastic port-Hamiltonian systems and weak passivity, where the energy dissipated by the stochastic system, if any, is stored into the tank to implement the desired actions. As we consider a non-vanishing noise, we need to consider weaker notion of passivity and convergence. We will show how the notion of weak passivity can be properly defined so that equipping a stochastic system with a suitable energy tank, variable admittance control can be efficiently implemented. We prove that the overall system is weakly passive and it converges toward an invariant measure. Simulation results show the effectiveness of the derived theoretical framework.
2020
IFAC-PapersOnLine
RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS
Elsevier B.V.
Cordoni, F.; Di Persio, L.; Muradore, R.
A variable stochastic admittance control framework with energy tank / Cordoni, F.; Di Persio, L.; Muradore, R.. - 53:2(2020), pp. 9986-9991. (Intervento presentato al convegno 21st IFAC World Congress 2020 tenutosi a deu nel 2020) [10.1016/j.ifacol.2020.12.2716].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/322970
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