Title :
A Smith-prediction based haptic feedback controller for time delayed virtual environments systems
Author :
Arioui, H. ; Mammar, S. ; Hamel, T.
Author_Institution :
Complex Syst. Lab., Evry Univ., France
Abstract :
A modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.
Keywords :
closed loop systems; control system synthesis; delays; force feedback; haptic interfaces; predictive control; robust control; virtual reality; Smith-prediction based haptic feedback controller; closed loop system; computer haptic algorithms; feedback law; time delayed virtual environments systems; Adaptive control; Closed loop systems; Delay effects; Delay lines; Delay systems; Equations; Feedback loop; Haptic interfaces; Robustness; Virtual environment;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024609
