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000726540 020__ $$a9783319151717$$qelectronic book
000726540 020__ $$a3319151711$$qelectronic book
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000726540 0247_ $$a10.1007/978-3-319-15171-7$$2doi
000726540 035__ $$aSP(OCoLC)ocn907289235
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000726540 08204 $$a629.8/92$$223
000726540 24500 $$aPassivity-based control and estimation in networked robotics$$h[electronic resource] /$$cTakeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong.
000726540 264_1 $$aCham :$$bSpringer,$$c2015.
000726540 300__ $$a1 online resource :$$billustrations.
000726540 336__ $$atext$$btxt$$2rdacontent
000726540 337__ $$acomputer$$bc$$2rdamedia
000726540 338__ $$aonline resource$$bcr$$2rdacarrier
000726540 4901_ $$aCommunications and control engineering,$$x0178-5354
000726540 504__ $$aIncludes bibliographical references and index.
000726540 5050_ $$aScattering Variables Based Control of Bilateral Teleoperators -- Synchronization of Bilateral Teleoperators -- Passivity-Based Visual Feedback Estimation -- Passivity-Based Visual Feedback Control -- Output Synchronization for Network of Passive Systems -- Attitude Synchronization for Rigid Body Networks -- Pose Synchronization for Rigid Body Networks -- Cooperative Estimation for Visual Sensor Networks -- Appendices.
000726540 506__ $$aAccess limited to authorized users.
000726540 520__ $$aHighlighting 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.
000726540 588__ $$aOnline resource; title from PDF title page (SpringerLink, viewed April 16, 2015).
000726540 650_0 $$aRobots$$xControl systems.
000726540 650_0 $$aPassivity-based control.
000726540 7001_ $$aHatanaka, Takeshi,$$eauthor.
000726540 7001_ $$aChopra, Nikhil,$$eauthor.
000726540 7001_ $$aFujita, Masayuki,$$eauthor.
000726540 7001_ $$aSpong, Mark W.,$$eauthor.
000726540 77608 $$iPrint version:$$tPassivity-based control and estimation in networked robotics.$$dCham, Switzerland : Springer, c2015$$z9783319151700
000726540 830_0 $$aCommunications and control engineering series.
000726540 852__ $$bebk
000726540 85640 $$3SpringerLink$$uhttps://univsouthin.idm.oclc.org/login?url=http://link.springer.com/10.1007/978-3-319-15171-7$$zOnline Access$$91397441.1
000726540 909CO $$ooai:library.usi.edu:726540$$pGLOBAL_SET
000726540 980__ $$aEBOOK
000726540 980__ $$aBIB
000726540 982__ $$aEbook
000726540 983__ $$aOnline
000726540 994__ $$a92$$bISE