Passivity-Based Control and Estimation in Networked Robotics
Passivity-Based Control and Estimation in Networked Robotics
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DOI：
10.1007/978-3-319-15171-7
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发表时间：
2015-04
期刊：
影响因子：
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通讯作者：
T. Hatanaka;N. Chopra;M. Fujita;M. Spong
中科院分区：
文献类型：
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作者：
T. Hatanaka;N. Chopra;M. Fujita;M. Spong
无源性是动力系统的一种输入输出特性。这个概念概括了物理系统，不能存储更多的能量比从系统外部提供的能量。它是系统和控制理论中最具物理吸引力的概念之一，并已被用作线性和非线性系统的基本设计工具。该概念也被用于机器人控制，包括机器人操作器，移动的机器人和双足机器人的控制，取得了杰出的成功。尽管无源性和基于无源性的控制的历史悠久，该方法仍然在积极使用，即使在新的研究领域之间的交叉系统和控制和机器人。一个典型的新的研究领域，其中被动性发挥了核心作用是网络机器人，其中机器人作为网络的一个组成部分。在这本书中，我们专注于三个研究领域，特别是属于网络机器人，双边遥操作，基于视觉的控制/估计，和合作控制/估计。这本书的目标是描述一个统一的被动为基础的方法，为新兴的研究领域。我们认为双边遥操作在第一部分（章。2-4），其涉及双机器人系统，其中一个远程机器人（即，从）跟踪由人类操作员命令的另一个机器人（即，主）的运动。该领域在危险环境中的操作、海底勘探、机器人手术和钻井等领域具有广泛的适用性。双边遥操作中的一些基本挑战是提高机器人与任意人类操作员和远程环境以稳定的方式进行交互的能力，在不可靠的通信网络上进行双边遥操作，并保证整个系统的透明度和高水平的性能。在这一部分中，我们证明了基于无源性的控制可以作为一个统一的方法来解决这些挑战。
Passivity is an input–output property of dynamical systems. The concept generalizes physical systems that cannot store more energy than the energy supplied from outside the system. It is one of the most physically appealing concepts in systems and control theory and has been used as a fundamental design tool for linear and nonlinear systems. The concept has also been used to achieve outstanding success in robot control, including the control of robot manipulators, mobile robots, and bipedal robots.Despite the long history of passivity and passivity-based control, the approach still remains in active use even in new research fields at the intersection between systems and control and robotics. A typical new research field in which passivity plays a central role is networked robotics, where a robot works as a component of a network. In this book, we focus on three research fields that fall within networked robotics in particular, bilateral teleoperation, vision-based control/estimation, and cooperative control/estimation. The goal of this book is to describe a unifying passivity-based approach for the emerging research fields. We consider bilateral teleoperation in Part I (Chaps. 2–4), which involves a dual robot system where one remote robot (ie, slave) tracks the motion of another robot (ie, master) that is commanded by a human operator. This field has wide applicability in areas such as operations in hazardous environments, undersea exploration, robotic surgery, and drilling. Some of the fundamental challenges in bilateral teleoperation are enhancing a robot’s ability to interact with arbitrary human operators and remote environments in a stable manner, conducting bilateral teleoperation over unreliable communication networks, and guaranteeing the transparency and high level of performance of the overall system. In this part, we demonstrate that passivity-based control can be utilized as a unifying methodology to address these challenges.