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- Title
Bilateral teleoperation of stochastic port‐Hamiltonian systems using energy tanks.
- Authors
Cordoni, Francesco; Di Persio, Luca; Muradore, Riccardo
- 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.
- Subjects
STOCHASTIC systems; REMOTE control; ENERGY consumption
- Publication
International Journal of Robust & Nonlinear Control, 2021, Vol 31, Issue 18, p9332
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.5780