Effects of System Delay in Passivity-based Haptic System

Author

Maneewarn, Thavida ; Tothawornyuenyong, Phanaprai

Author_Institution

Inst. of Field Robotics, King Mongkut´´s Univ. of Technol., Bangkok

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

In this paper, we study the effect of unobserved energy in the haptic system due to different types of system delay and the observed pair of power variables. When the previously proposed passivity observer (PO) can not observe the energy produced by some types of system delay, the passivity controller (PC) may not be able to stabilize the system. We propose a fuzzy controller which is designed based on passivity that can improve system performance during virtual wall contact even when the passivity observer cannot detect the energy generated in the system due to delays

Keywords

fuzzy control; fuzzy set theory; haptic interfaces; virtual reality; fuzzy controller; haptic interface; passivity controller; passivity observer; passivity-based haptic system; system delay; virtual wall contact; Control systems; Delay effects; Delay systems; Fuzzy control; Fuzzy systems; Haptic interfaces; Mechanical engineering; Robots; Stability; Virtual environment; Fuzzy Controller; Haptic Interface; Passivity Controller; System Delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252733

Filename

4018849