Authors:
- Broad scope of the book and unifying passivity-based approach means readers can avoid wading through a stack of books on individual topics
- Control engineers can learn about and derive concrete tools from the expressly design-oriented thinking of this book
- Plentiful detailed illustration helps readers grasp design concepts immediately
- Richly developed experimental case studies will enhance the motivation of young students and researchers
- Includes supplementary material: sn.pub/extras
Part of the book series: Communications and Control Engineering (CCE)
Buy it now
Buying options
Tax calculation will be finalised at checkout
Other ways to access
This is a preview of subscription content, log in via an institution to check for access.
Table of contents (11 chapters)
-
Front Matter
-
Passivity-Based Teleoperation
-
Front Matter
-
-
Passivity-Based Visual Feedback Control and Estimation
-
Front Matter
-
-
Passivity-Based Cooperative Control and Estimation
-
Front Matter
-
-
Back Matter
About this book
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.
Authors and Affiliations
-
Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan
Takeshi Hatanaka
-
Department of Mechanical Engineering, University of Maryland, College Park, USA
Nikhil Chopra
-
Department of Mechanical and Control Engineering, Tokyo Insitute of Technology, Tokyo, Japan
Masayuki Fujita
-
Department of Electrical Engineering, University of Texas at Dallas, Richardson, USA
Mark W. Spong
About the authors
Bibliographic Information
Book Title: Passivity-Based Control and Estimation in Networked Robotics
Authors: Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Series Title: Communications and Control Engineering
DOI: https://doi.org/10.1007/978-3-319-15171-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2015
Hardcover ISBN: 978-3-319-15170-0Published: 23 April 2015
Softcover ISBN: 978-3-319-35040-0Published: 05 October 2016
eBook ISBN: 978-3-319-15171-7Published: 10 April 2015
Series ISSN: 0178-5354
Series E-ISSN: 2197-7119
Edition Number: 1
Number of Pages: X, 349
Number of Illustrations: 59 b/w illustrations, 192 illustrations in colour
Topics: Control and Systems Theory, Robotics and Automation, Systems Theory, Control