Intrinsically passive control using sampled data system passivity

Stramigioli, Stefano (2005) Intrinsically passive control using sampled data system passivity. In: Multi-point interaction with real and virual objects. 18 . Springer, Berlin, pp. 215-229. ISBN 9783540260363

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Abstract:	In this chapter, which is a distilled version of [271], we present a novel way to approach the interconnection of a continuous and a discrete time physical system firstly presented in [270, 268, 257]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master-slave system on a digital transmission line with varying time delays and possible loss of packets (e.g. the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.
Item Type:	Book Section
Copyright:	© 2005 Springer
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/66974
Official URL:	http://dx.doi.org/10.1007/11429555_14
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