Introduction to Energy Tanks

Research Overview

In this work we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. In order to understand in an insightful way the idea behind energy tanks, we introduce it within its originating system theoretic fields, i.e., the port-Hamiltonian framework and passivity-based control.


Federico Califano, Ramy Rashad, Cristian Secchi, Stefano Stramigioli (2023) On the Use of Energy Tanks for Robotic Systems, Human-Friendly Robotics 2022, Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta (ed.), p. 174-188, Cham: Springer International Publishing, doi:10.1007/978-3-031-22731-8_13