skip to content
Passivity-Based Control and Estimation in Networked Robotics Preview this item
ClosePreview this item
Checking...

Passivity-Based Control and Estimation in Networked Robotics

Author: Takeshi Hatanaka; Nikhil Chopra; Masayuki Fujita; Mark W Spong
Publisher: Cham : Springer, 2015.
Series: Communications and Control Engineering
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
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  Read more...
Rating:

(not yet rated) 0 with reviews - Be the first.

Subjects
More like this

Find a copy online

Links to this item

Find a copy in the library

&AllPage.SpinnerRetrieving; Finding libraries that hold this item...

Details

Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Takeshi Hatanaka; Nikhil Chopra; Masayuki Fujita; Mark W Spong
ISBN: 9783319151717 3319151711
OCLC Number: 910523469
Description: Online-Ressource (x, 349 Seiten 251 Illustrationen, 59 Illustrationen in color, online resource).
Series Title: Communications and Control Engineering
Responsibility: by Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong.

Abstract:

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.

Reviews

User-contributed reviews
Retrieving GoodReads reviews...
Retrieving DOGObooks reviews...

Tags

Be the first.

Similar Items

Related Subjects:(2)

Confirm this request

You may have already requested this item. Please select Ok if you would like to proceed with this request anyway.

Linked Data


Primary Entity

<http://www.worldcat.org/oclc/910523469> # Passivity-Based Control and Estimation in Networked Robotics
    a schema:Book, schema:MediaObject, schema:CreativeWork ;
    library:oclcnum "910523469" ;
    library:placeOfPublication <http://experiment.worldcat.org/entity/work/data/2252068377#Place/cham> ; # Cham
    schema:about <http://dewey.info/class/629.8/> ;
    schema:about <http://experiment.worldcat.org/entity/work/data/2252068377#Topic/systems_theory> ; # Systems theory
    schema:about <http://experiment.worldcat.org/entity/work/data/2252068377#Topic/engineering> ; # Engineering
    schema:bookFormat schema:EBook ;
    schema:contributor <http://experiment.worldcat.org/entity/work/data/2252068377#Person/spong_mark_w> ; # Mark W. Spong
    schema:contributor <http://experiment.worldcat.org/entity/work/data/2252068377#Person/chopra_nikhil_1974> ; # Nikhil Chopra
    schema:contributor <http://experiment.worldcat.org/entity/work/data/2252068377#Person/fujita_masayuki> ; # Masayuki Fujita
    schema:creator <http://experiment.worldcat.org/entity/work/data/2252068377#Person/hatanaka_takeshi> ; # Takeshi Hatanaka
    schema:datePublished "2015" ;
    schema:description "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." ;
    schema:exampleOfWork <http://worldcat.org/entity/work/id/2252068377> ;
    schema:inLanguage "en" ;
    schema:isPartOf <http://experiment.worldcat.org/entity/work/data/2252068377#Series/communications_and_control_engineering> ; # Communications and Control Engineering
    schema:name "Passivity-Based Control and Estimation in Networked Robotics" ;
    schema:productID "910523469" ;
    schema:publication <http://www.worldcat.org/title/-/oclc/910523469#PublicationEvent/cham_springer_2015> ;
    schema:publisher <http://experiment.worldcat.org/entity/work/data/2252068377#Agent/springer> ; # Springer
    schema:url <http://swbplus.bsz-bw.de/bsz430177992cov.htm> ;
    schema:url <http://dx.doi.org/10.1007/978-3-319-15171-7> ;
    schema:workExample <http://worldcat.org/isbn/9783319151717> ;
    schema:workExample <http://dx.doi.org/10.1007/978-3-319-15171-7> ;
    wdrs:describedby <http://www.worldcat.org/title/-/oclc/910523469> ;
    .


Related Entities

<http://experiment.worldcat.org/entity/work/data/2252068377#Person/chopra_nikhil_1974> # Nikhil Chopra
    a schema:Person ;
    schema:birthDate "1974" ;
    schema:familyName "Chopra" ;
    schema:givenName "Nikhil" ;
    schema:name "Nikhil Chopra" ;
    .

<http://experiment.worldcat.org/entity/work/data/2252068377#Person/fujita_masayuki> # Masayuki Fujita
    a schema:Person ;
    schema:familyName "Fujita" ;
    schema:givenName "Masayuki" ;
    schema:name "Masayuki Fujita" ;
    .

<http://experiment.worldcat.org/entity/work/data/2252068377#Person/hatanaka_takeshi> # Takeshi Hatanaka
    a schema:Person ;
    schema:familyName "Hatanaka" ;
    schema:givenName "Takeshi" ;
    schema:name "Takeshi Hatanaka" ;
    .

<http://experiment.worldcat.org/entity/work/data/2252068377#Person/spong_mark_w> # Mark W. Spong
    a schema:Person ;
    schema:familyName "Spong" ;
    schema:givenName "Mark W." ;
    schema:name "Mark W. Spong" ;
    .

<http://experiment.worldcat.org/entity/work/data/2252068377#Series/communications_and_control_engineering> # Communications and Control Engineering
    a bgn:PublicationSeries ;
    schema:hasPart <http://www.worldcat.org/oclc/910523469> ; # Passivity-Based Control and Estimation in Networked Robotics
    schema:name "Communications and Control Engineering" ;
    .

<http://worldcat.org/isbn/9783319151717>
    a schema:ProductModel ;
    schema:isbn "3319151711" ;
    schema:isbn "9783319151717" ;
    .


Content-negotiable representations

Close Window

Please sign in to WorldCat 

Don't have an account? You can easily create a free account.