In this paper, we exploit port-Hamiltonian systems for building a novel teleoperation architecture for a group of mobile agents that need to track a set of prede_ned trajectories. Using port-Hamiltonian system we can guarantee an intrinsically safe and passive bilateral teleoperation system while using linear regulation system we can ensure an asymptotic tracking. The performance of the teleoperation system are evaluated by means of experiments.
Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories / Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare. - 28:13(2015), pp. 69-74. (Intervento presentato al convegno 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015 tenutosi a Lyon nel 4-7 July 2015) [10.1016/j.ifacol.2015.10.216].
Port-Hamiltonian based teleoperation of a multi-robot system on periodic trajectories
SECCHI, Cristian;SABATTINI, Lorenzo;FANTUZZI, Cesare
2015
Abstract
In this paper, we exploit port-Hamiltonian systems for building a novel teleoperation architecture for a group of mobile agents that need to track a set of prede_ned trajectories. Using port-Hamiltonian system we can guarantee an intrinsically safe and passive bilateral teleoperation system while using linear regulation system we can ensure an asymptotic tracking. The performance of the teleoperation system are evaluated by means of experiments.
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