LEADER 04960nam 22007215 450 001 9910299841003321 005 20200630061759.0 010 $a3-319-15171-1 024 7 $a10.1007/978-3-319-15171-7 035 $a(CKB)3710000000394723 035 $a(EBL)2096844 035 $a(SSID)ssj0001501247 035 $a(PQKBManifestationID)11855485 035 $a(PQKBTitleCode)TC0001501247 035 $a(PQKBWorkID)11523422 035 $a(PQKB)11534527 035 $a(DE-He213)978-3-319-15171-7 035 $a(MiAaPQ)EBC2096844 035 $a(PPN)185489923 035 $a(EXLCZ)993710000000394723 100 $a20150410d2015 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aPassivity-Based Control and Estimation in Networked Robotics /$fby Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong 205 $a1st ed. 2015. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2015. 215 $a1 online resource (349 p.) 225 1 $aCommunications and Control Engineering,$x0178-5354 300 $aDescription based upon print version of record. 311 $a3-319-15170-3 320 $aIncludes bibliographical references and index. 327 $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. 330 $aHighlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques,  the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity?s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students. 410 0$aCommunications and Control Engineering,$x0178-5354 606 $aControl engineering 606 $aRobotics 606 $aAutomation 606 $aSystem theory 606 $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010 606 $aRobotics and Automation$3https://scigraph.springernature.com/ontologies/product-market-codes/T19020 606 $aSystems Theory, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/M13070 615 0$aControl engineering. 615 0$aRobotics. 615 0$aAutomation. 615 0$aSystem theory. 615 14$aControl and Systems Theory. 615 24$aRobotics and Automation. 615 24$aSystems Theory, Control. 676 $a629.892 700 $aHatanaka$b Takeshi$4aut$4http://id.loc.gov/vocabulary/relators/aut$01060784 702 $aChopra$b Nikhil$4aut$4http://id.loc.gov/vocabulary/relators/aut 702 $aFujita$b Masayuki$4aut$4http://id.loc.gov/vocabulary/relators/aut 702 $aSpong$b Mark W$4aut$4http://id.loc.gov/vocabulary/relators/aut 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910299841003321 996 $aPassivity-Based Control and Estimation in Networked Robotics$92515638 997 $aUNINA