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Passivity-Based Control and Estimation in Networked Robotics

  • Takeshi Hatanaka
  • Nikhil Chopra
  • Masayuki Fujita
  • Mark W. Spong

Part of the Communications and Control Engineering book series (CCE)

Table of contents

  1. Front Matter
    Pages i-x
  2. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
    Pages 1-27
  3. Passivity-Based Teleoperation

    1. Front Matter
      Pages 29-29
    2. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 31-49
    3. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 51-70
    4. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 71-84
  4. Passivity-Based Visual Feedback Control and Estimation

    1. Front Matter
      Pages 85-85
    2. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 87-100
    3. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 101-138
    4. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 139-164
  5. Passivity-Based Cooperative Control and Estimation

    1. Front Matter
      Pages 165-165
    2. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 167-184
    3. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 185-203
    4. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 205-236
    5. Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
      Pages 237-269
  6. Back Matter
    Pages 271-349

About this book

Introduction

Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques,  the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems.

The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation.

Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.

Keywords

Bilateral Teleoperation Cooperative Control Multi-agent Systems Networked Control Systems Passivity-based Control Passivity-based Estimation Visual Feedback Control Visual Feedback Estimation Visual Servoing

Authors and affiliations

  • Takeshi Hatanaka
    • 1
  • Nikhil Chopra
    • 2
  • Masayuki Fujita
    • 3
  • Mark W. Spong
    • 4
  1. 1.Department of Mechanical and Control EngineeringTokyo Institute of TechnologyTokyoJapan
  2. 2.Department of Mechanical EngineeringUniversity of MarylandCollege ParkUSA
  3. 3.Department of Mechanical and Control EngineeringTokyo Insitute of TechnologyTokyoJapan
  4. 4.Department of Electrical EngineeringUniversity of Texas at DallasRichardsonUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-15171-7
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-15170-0
  • Online ISBN 978-3-319-15171-7
  • Series Print ISSN 0178-5354
  • Series Online ISSN 2197-7119
  • Buy this book on publisher's site