Control of interactive robotic interfaces. A port-Hamiltonian approach
type: Item
instance of: scholarly article
title: Control of interactive robotic interfaces. A port-Hamiltonian approach
zbMATH Open document ID: 1114.93004
author: Cristian Secchi
author: Stefano Stramigioli
author: Cesare Fantuzzi
published in: Springer Tracts in Advanced Robotics
publication date: 2007-03-14T00:00:00Z
review text: The presented monograph is based on the Ph.D. thesis of the first author which he defended at the University of Modena and Reggio Emilia in 2004 and it deals with energy based control of interactive robotic interfaces. When two physical systems interact they exchange energy and in order to control the interaction in a sensitive way, it is necessary to control this energy exchange. The port-Hamiltonian formalism provides a framework for modeling physical systems based on the concept of energy, interconnection and power ports which model the phenomena of energy storage, energy exchange and external interaction respectively. In this book, port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Starting with the port-Hamiltonian model, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that property regulates the robotic interface. Due to its generality, port-Hamiltonian formalism allows to deal also with complex interactive systems, both linear and non-linear. In Chapter 1, starting from the so-called behavioral approach for modeling, it is shown that the energy and the energetic interconnections, along with the internal power exchange takes place, and, the ports which power is exchanged with the external world, are the essential ingredients to model the behavior of physical systems; the mathematical object of Dirac structure is introduced and both implicit and explicit port-Hamiltonian systems are introduced. In Chapter 2 energy is exploited for control purpose and it is shown how to exploit the energetic properties of port-Hamiltonian systems to build energy based controllers that allow to solve the regulation problem for physical systems. The basics of passivity theory are presented and the link between stability of certain configuration and the shape of the energy of the physical s…
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
zbMATH DE Number: 5133929
zbMATH Keywords: robotic control
zbMATH Keywords: port-Hamiltonian formalism
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 5133929