An up-to-date survey of the theory of port-Hamiltonian systems is given, emphasizing novel
developments and relationships with other formalisms. Port-Hamiltonian systems theory …

This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …

In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …

This survey addresses the subject of bilateral teleoperation, a research stream with more
than 50 years of history and one that continues to be a fertile ground for theoretical …

Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in
the study of complex multi-domain systems, methodologies that explicitly describe the …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-
freedom nonlinear robotic systems under constant communication delays. The proposed …

In this paper we survey the development of the wave variable concept and examine wave-
based teleoperation. We study the behavior of force reflecting systems under unknown but …

In this chapter we present an overview of the field of telerobotics with a focus on control
aspects. To acknowledge some of the earliest contributions and motivations the field has …

Bilateral teleoperators, designed within the passivity framework using concepts of scattering
and two-port network theory, provide robust stability against constant delay in the network …