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Authors
Alessandro Casavola; Michela Sorbara; Stefano Stramigioli

Identifier
10.3182/20060906-3-IT-2910.00091

Index Terms
constrained control,passivity,port-Hamiltonian systems

Abstract
In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.

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