In this paper we address the problem of the control over networks of mechanical systems. We exploit the scattering framework to extend the energy shaping methodology in case the controller and the plant are interconnected through a delayed network. Furthermore, we exploit a result recently proposed for passivity based telemanipulation for guaranteeing the asymptotic stabilization of the desired configuration also in case of loss of information during the communication as it can very likely happen when using Ethernet-like networks (e.g. Internet).
Energy Shaping over Networks for Mechanical System / Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2007), pp. 647-652. (Intervento presentato al convegno 46th IEEE Conference on Decision and Control 2007, CDC tenutosi a New Orleans, LA, usa nel Dicembre 2007) [10.1109/CDC.2007.4434212].
Energy Shaping over Networks for Mechanical System
SECCHI, Cristian;FANTUZZI, Cesare
2007
Abstract
In this paper we address the problem of the control over networks of mechanical systems. We exploit the scattering framework to extend the energy shaping methodology in case the controller and the plant are interconnected through a delayed network. Furthermore, we exploit a result recently proposed for passivity based telemanipulation for guaranteeing the asymptotic stabilization of the desired configuration also in case of loss of information during the communication as it can very likely happen when using Ethernet-like networks (e.g. Internet).
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