Original energy tank direction

How does energy tank work?

Using energy tank it is possible to passively implement any desired control action according to the available energy budget . The energy budget is provided by a high-level control module referred to as the supervisor in Fig. 2 b. This supervisor module is interconnected to the control system and can provide to it new energy if needed.

What are energy tanks?

In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) introducing to the reader the topic in a simple yet...

Are energy tanks usable?

Preliminary works that addressed the usability of energy tanks in this direction include [1, 3, 4, 30, 31]. In this paper we discussed the genesis of energy tanks in the context of its containing system theoretic frameworks, that are port-based modeling and energy-aware control.

Can energy tanks be adapted to dynamic passive environments?

In the recent work of , an adaptive extension to energy tanks was proposed to deal with dynamic passive environments relying on varying the power limits of the energy tanks online through an iterative learning procedure.

What is the use of Energy Tanks in robotic application domains?

Table 1. The use of energy-tanks in different robotic application domains. The mechanism of energy tanks has distinguished itself for elegance and simplicity, providing a very convenient way to formally establish passivity of a controlled system.

Is energy-aware control using energy-tanks an active research topic?

In conclusion, the above non-exhaustive list of extensions demonstrates that energy-aware control using energy-tanks is an active research topic. Furthermore, it is being utilized in a wide variety of application domains in robotics as summarized in Table . Table 1. The use of energy-tanks in different robotic application domains.