Passivity-Based Control and Estimation in Networked Robotics

Nonfiction, Science & Nature, Technology, Automation, Robotics
Cover of the book Passivity-Based Control and Estimation in Networked Robotics by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong, Springer International Publishing
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong ISBN: 9783319151717
Publisher: Springer International Publishing Publication: April 10, 2015
Imprint: Springer Language: English
Author: Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
ISBN: 9783319151717
Publisher: Springer International Publishing
Publication: April 10, 2015
Imprint: Springer
Language: English

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.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

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.

More books from Springer International Publishing

Cover of the book The Demand for International Football Telecasts in the United States by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Smart Health by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Self-Tracking by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Eye Tracking Methodology by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Recent Advancements in Materials and Systems for Thermal Energy Storage by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Nanotechnology in Oil and Gas Industries by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Nudge Theory in Action by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Technology Enhanced Assessment by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Cardiac Rehabilitation Manual by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Fourier Transformation for Pedestrians by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Critical Thinking in Clinical Assessment and Diagnosis by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Advances in Mathematics Education Research on Proof and Proving by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Analysis and Control of Oilwell Drilling Vibrations by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Engineering Psychology and Cognitive Ergonomics by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Cover of the book Multimodal Analysis of User-Generated Multimedia Content by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy