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We present a consensus framework for multiple variable-rate heterogeneous mechanical integrators (i.e. multidimensional integrators with mass, damping and spring matrices) on undirected graph with constant, yet, non-uniform communication delay. By connecting multiple mechanical integrators via (discrete-time) spring connections over delayed links with some damping injection, our proposed framework...
In this paper, we propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuous-time) robot's position to a sequence of slowly updating/sparse (discrete-time) set-position signal via the simple (yet frequently used in practice) spring coupling with damping injection, while enforcing passivity of the closed-loop robotic system. The PSPM modulates the original...
We propose a novel framework - passive set-position modulation - which enables us to utilize the explicit position feedback over packet-switching communication network (e.g. Internet) with significant varying-delay and packet-loss, while enforcing energetic passivity at the same time. The proposed modulation framework is flexible (i.e. can accommodate varying data update-rate and intermediate data...
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