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The Problem of Packets Loss in Scaled Digital Port-Hamiltonian Based Bilateral Telemanipulation

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3 Author(s)
Secchi, C. ; DISMI, Univ. of Modena & Reggio Emilia ; Stramigioli, S. ; Fantuzzi, C.

The goal of this paper is to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy and a way to handle lost packets that allow power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets

Published in:

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Date of Conference:

28-31 Aug. 2005