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Energy-Aware Robotics

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Mathematical Control Theory I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 461))

Abstract

This chapter has a tutorial nature in introducing a number of useful concepts which resulted by reasoning with power ports rather than with signals, as people usually do in control. Arjan is one of the Godfathers in this way of thinking and he has been a pioneer in bringing these concepts to a new level, introducing proper geometry, a sound system theoretic basis and divulgating these issues. This chapter shows how, by using these concepts, it is possible to address or solve certain problems in robotics, control and passivity in a simple and straightforward way. It also presents a formal proof of a claim which is often used as a conjecture and which gives theoretical arguments to counteract the statement which is often used against passivity and saying that passivity is too restrictive and stability is what should be looked for. Many of the concepts reported in the chapter have been the results of discussions with Arjan or are still issues that I am working on with Arjan. It is a great pleasure and honour to have the opportunity to contribute in this way to a recognition of the incredible career of a college and friend for which I have incredible respect from an intellectual and personal point of view.

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References

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Acknowledgments

I would like to acknowledge a number of people for the many valuable discussions which led to ideas reported in the chapter. Besides Arjan, I would also like to acknowledge Bernhard Maschke, who together with Arjan, infected me for the love of this field and Rob Mahony for great discussions related to geometrical control of quad-copters and under-actuation.

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Authors and Affiliations

  1. University of Twente, Enschede, The Netherlands

    Stefano Stramigioli

Authors
  1. Stefano Stramigioli
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Corresponding author

Correspondence to Stefano Stramigioli .

Editor information

Editors and Affiliations

  1. Johann Bernoulli Institute for Mathematics and Computer Science, University of Groningen, Groningen, The Netherlands

    M. Kanat Camlibel

  2. Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, New York, USA

    A. Agung Julius

  3. Department of Electrical Engineering, Indian Institute of Technology, Chennai, Tamil Nadu, India

    Ramkrishna Pasumarthy

  4. Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands

    Jacquelien M.A. Scherpen

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Stramigioli, S. (2015). Energy-Aware Robotics. In: Camlibel, M., Julius, A., Pasumarthy, R., Scherpen, J. (eds) Mathematical Control Theory I. Lecture Notes in Control and Information Sciences, vol 461. Springer, Cham. https://doi.org/10.1007/978-3-319-20988-3_3

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  • DOI: https://doi.org/10.1007/978-3-319-20988-3_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-20987-6

  • Online ISBN: 978-3-319-20988-3

  • eBook Packages: EngineeringEngineering (R0)

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