Power Scaling in Port-Hamiltonian Telemanipulation over Packet Switched Networks


Passivity is a very suitable tool to stabilize a telemanipulator; in fact, implementing each part of a telerobotic system as a passive system and interconnecting them in a power preserving way it is possible to achieve an intrinsically passive system which is consequently characterized by a stable behavior. In [1] scattering theory has been exploited to… (More)
DOI: 10.1007/978-3-540-71364-7_15


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