000 04117nam a22005415i 4500
001 978-3-319-15171-7
003 DE-He213
005 20200421111839.0
007 cr nn 008mamaa
008 150410s2015 gw | s |||| 0|eng d
020 _a9783319151717
_9978-3-319-15171-7
024 7 _a10.1007/978-3-319-15171-7
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aHatanaka, Takeshi.
_eauthor.
245 1 0 _aPassivity-Based Control and Estimation in Networked Robotics
_h[electronic resource] /
_cby Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2015.
300 _aX, 349 p. 251 illus., 59 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aCommunications and Control Engineering,
_x0178-5354
505 0 _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.
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.
650 0 _aEngineering.
650 0 _aSystem theory.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aRobotics and Automation.
650 2 4 _aSystems Theory, Control.
700 1 _aChopra, Nikhil.
_eauthor.
700 1 _aFujita, Masayuki.
_eauthor.
700 1 _aSpong, Mark W.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319151700
830 0 _aCommunications and Control Engineering,
_x0178-5354
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-15171-7
912 _aZDB-2-ENG
942 _cEBK
999 _c55471
_d55471