Energy-aware robotics

DOI10.1007/978-3-319-20988-3_3MaRDI QIDQ4558865zbMATH OpenOpenAlexFDO

Authors Stefano Stramigioli

Publication date 30 November 2018

Published in Mathematical Control Theory I (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-319-20988-3_3

zbMATH Keywords

bond graphcontrol robotDirac structurepassive behaviorunknown environment

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• scientific article; zbMATH DE number 1816773
• Dissipative systems analysis and control. Theory and applications
• Control of interactive robotic interfaces. A port-Hamiltonian approach
• scientific article; zbMATH DE number 931789
• Dissipative systems analysis and control. Theory and applications

Cites work

• A rigorous framework for interactive robot control
• An intrinsic Hamiltonian formulation of network dynamics: Non-standard Poisson structures and gyrators
• Hamiltonian formulation of distributed-parameter systems with boundary energy flow
• Impedance Control: An Approach to Manipulation: Part III—Applications
• L\(_2\) gain and passivity techniques in nonlinear control.
• Modeling and IPC control of interactive mechanical systems. A coordinate-free approach
• Port-based asymptotic curve tracking for mechanical systems
• Port-based modelling of multidomain physical systems in terms of bond graphs

Cited in

(7)

• On the converse of the passivity and small-gain theorems for input-output maps
• Design of robotic discrete minimum energy regulator
• Optimal Energy Shaping via Neural Approximators
• Converse negative imaginary theorems
• Learning passive policies with virtual energy tanks in robotics
• Passivity preserving energy-aware design for multi-dimensional switched systems: application to open multi-robot systems
• Extended strictly negative imaginary systems and associated robust feedback stability

This page was built for publication: Energy-aware robotics

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4558865)