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A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System

Daniel A. Dirksz, Jacquelien M.A. Scherpen, Maarten Steinbuch
2014 Asian journal of control  
A port-Hamiltonian approach to visual servo control of a pick and place system Dirksz, Daniel A.; Scherpen, Jacquelien M.A.  ...  Abstract-In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system.  ...  FINAL REMARKS We have presented a PH approach to visual servo control of a P&P system.  ... 
doi:10.1002/asjc.909 fatcat:b56a5ktsynb7ped6hy2cfy7rjy

A port-Hamiltonian approach to visual servo control of a pick and place system

Daniel A. Dirksz, Jacquelien M.A. Scherpen
2012 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)  
A port-Hamiltonian approach to visual servo control of a pick and place system Dirksz, Daniel A.; Scherpen, Jacquelien M.A.  ...  Abstract-In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system.  ...  FINAL REMARKS We have presented a PH approach to visual servo control of a P&P system.  ... 
doi:10.1109/cdc.2012.6426422 dblp:conf/cdc/DirkszS12 fatcat:2xvhigp72ja63lkcx6b4oiomga

Generalized Pontryagin Maximum Principle in port-Hamiltonian Systems and Application [article]

Yuanzun Zhao
2015 arXiv   pre-print
Based on Pontryagin Maximum Principle (PMP), this paper establishes a generalized PMP aiming at control system with with extra input/output terms.  ...  The paper details the adaptive target and gives a proof of the generalized theorem.  ...  Control Theory 3 (2014), no. 2, 207-229. [10] Dirksz, Daniel A. Scherpen, Jacquelien M. A. Steinbuch, Maarten A port- Hamiltonian approach to visual servo control of a pick and place system.  ... 
arXiv:1511.05782v4 fatcat:k2gcgyqtibgavco7yogvpdkmle

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 2553-2560 Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering.  ...  ., +, LRA April 2019 1319-1326 Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Past, Present, and Future of Aerial Robotic Manipulators

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi
2021 IEEE Transactions on robotics  
a wide variety of robotic manipulators capable of physically interacting with the environment.  ...  Finally, a new generation of aerial robotic manipulators is presented with our vision of the future.  ...  Passivity-based and Port-Hamiltonian methods have been also employed to design similar approaches, which aim at the reshaping of the apparent impedance/admittance properties of the system [76] , [77]  ... 
doi:10.1109/tro.2021.3084395 fatcat:r5vnwmw4gndfxcpzo6h6awuqea

Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems

A. Astolfi, R. Ortega
2003 IEEE Transactions on Automatic Control  
nonlinearly parameterized visual servoing application.  ...  The method relies upon the notions of system immersion and manifold invariance and, in principle, does not require the knowledge of a (control) Lyapunov function.  ...  Kazantzis and Prof. C. Kravaris for providing preprints of their work.  ... 
doi:10.1109/tac.2003.809820 fatcat:3wkwhfvubjhmpj3ozqxlhaecla

Do it yourself haptics: part I

Vincent Hayward, Karon Maclean
2007 IEEE robotics & automation magazine  
Acknowledgment The authors would like to acknowledge the support of the Natural Sciences and Engineering Council of Canada.  ...  [117] , time domain passivity [98] , [118] - [121] , Llewellyns stability criterion [122] , describing function analysis [91] , [123] , port-Hamiltonian systems [124] , and Lyapunov analysis  ...  In addition to hardware components, these include some control principles and a discussion of practical means of assuring system stability.  ... 
doi:10.1109/m-ra.2007.907921 fatcat:2cjl4yxx7bhmlm6e37y64efgze

The Experimental Multi-Arm Pendulum on a Cart: A Benchmark System for Chaos, Learning, and Control [article]

Kadierdan Kaheman, Urban Fasel, Jason J. Bramburger, Benjamin Strom, J. Nathan Kutz, Steven L. Brunton
2022 arXiv   pre-print
The resulting experimental system is highly flexible, enabling a wide range of benchmark problems in dynamical systems modeling, system identification and learning, and control.  ...  Further, pendulum systems have long been used to design and test both linear and nonlinear control strategies, with the addition of more arms making the problem more challenging.  ...  The authors also would like to thank Eamon McQuaide and Veasna Thon for providing useful tutorials and instructions during the machining process and Zachary G.  ... 
arXiv:2205.06231v1 fatcat:d3s5mcoddbg4phtkwd2zidxgnu

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

Fabio Ruggiero, Antoine Petit, Diana Serra, Aykut C. Satici, Jonathan Cacace, Alejandro Donaire, Fanny Ficuciello, Luca R. Buonocore, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano
2018 IEEE robotics & automation magazine  
The authors are solely responsible for the content of this manuscript.  ...  ACKNOWLEDGMENT The research leading to these results has been supported by the RoDyMan project, which has received funding from the European Research Council FP7 Ideas under Advanced Grant agreement number  ...  This problem is solved using passivity-based control (PBC) for port-Hamiltonian (pH) systems.  ... 
doi:10.1109/mra.2017.2781306 fatcat:hdhbjsy7kvhdfdrsukyrdvvq6e

Single barium ion spectroscopy: light shifts, hyperfine structure, and progress on an optical frequency standard and atomic parity violation [article]

Jeff A. Sherman
2009 arXiv   pre-print
Single trapped ions are ideal systems in which to test atomic physics at high precision: they are effectively isolated atoms held at rest and largely free from perturbing interactions.  ...  We employ this technique to measure the ratio of off-resonant light shifts (or ac-Stark effect) in these states to a precision of 10^-3 at two different wavelengths.  ...  If a direct servo of f r is in place, the phase slippage ∆φ can be locked by carefully controlling the intracavity dispersion of the laser.  ... 
arXiv:0907.0459v1 fatcat:tnp5yjf2zneitckh7c2k4yre7q

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements The authors wish to acknowledge the support of the Natural Science and Engineering Research Council of Canada, the Institute for Robotic and Intelligent Systems (IRIS) and Precam Associates  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Certifying Unstability of Switched Systems Using Sum of Squares Programming

Benoît Legat, Pablo Parrilo, Raphaël Jungers
2020 SIAM Journal of Control and Optimization  
From an analysis and controller design point of view, it is known that GSPT and its adaptation to control systems [4], provide mathematical tools to understand the dynamics, and design controllers from  ...  This alternative way of analysis of slow-fast systems with particular structure may lead to a later analysis of multi-timescale systems over networks.  ...  Application of the methodology: Pick & Place task The given task involves picking and placing a 130kg object from the top of a 1.3m high table to a desired position and orientation within the operating  ... 
doi:10.1137/18m1173460 fatcat:ytlzbwk7vbampbuyo6snenz33m

Cascading Network Failure in Power Grid Blackouts [chapter]

Dr.Ian Dobson
2014 Encyclopedia of Systems and Control  
Cascading failure consists of complicated sequences of dependent failures and can cause large blackouts.  ...  The emerging risk analysis, simulation, and modeling of cascading blackouts are briefly surveyed, and key references are suggested.  ...  In addition to open loop quantum control approaches, a number of approaches to quantum control involve the use of feedback; e.g., see Wiseman and Milburn (2010) .  ... 
doi:10.1007/978-1-4471-5102-9_264-1 fatcat:slhzrvsilfephprfzlkkccbyma

Cooperative Manipulators [chapter]

Fabrizio Caccavale
2015 Encyclopedia of Systems and Control  
Cascading failure consists of complicated sequences of dependent failures and can cause large blackouts.  ...  The emerging risk analysis, simulation, and modeling of cascading blackouts are briefly surveyed, and key references are suggested.  ...  In addition to open loop quantum control approaches, a number of approaches to quantum control involve the use of feedback; e.g., see Wiseman and Milburn (2010) .  ... 
doi:10.1007/978-1-4471-5058-9_175 fatcat:gzo7xen4ynezhesyrpsldzj5bi

Speaker comfort and increase of voice level in lecture rooms

Jonas Brunskog, Anders C. Gade, Gaspar Payà Bellester, Lilian Reig Calbo
2008 Journal of the Acoustical Society of America  
Degree of intensity dip has the strongest effect, with a minimal dip in intensity more likely to be perceived as 'kneel' and a strong dip in intensity more likely to be perceived as 'needle. ' The results  ...  Presence vs. absence of a dip in intensity, duration of that dip, and degree of that dip in decibels are manipulated.  ...  Systemic approach to performance prediction and the exploitation of environmental information in naval systems.  ... 
doi:10.1121/1.2934367 fatcat:xr6gp4ldo5bylnxytx2iumrdmi
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