A power based time domain passivity control for haptic interfaces

Author

Ye, Yongqiang ; Pan, Ya-Jun ; Gupta, Yash

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

7521

Lastpage

7526

Abstract

In this paper, a power based time domain passivity control is presented. Compared to the energy based time domain passivity control, integration is not needed in the calculation and the energy estimation error is avoided. The new passivity observer (PO) distributes the activation of the passivity controller (PC) along the time index and helps to smooth the output of the PC. Applications of the approach to haptic interfaces are simulated. Comparisons with the two existing energy based approaches are made. Simulation results show the computational simplicity and effectiveness of the approach.

Keywords

haptic interfaces; observers; haptic interfaces; passivity observer; power based time domain passivity control; time index; Computational modeling; Damping; Delay effects; Discrete time systems; Estimation error; Haptic interfaces; Humans; Mechanical engineering; Quantization; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399978

Filename

5399978