Title :
A novel theory for sampled data system passivity
Author :
Stramigioli, S. ; Secchi, C. ; Van der Schaft, A.J. ; Fantuzzi, C.
Author_Institution :
Drebbel Inst., Twente Univ., Enschede, Netherlands
Abstract :
This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.
Keywords :
continuous time systems; discrete time systems; haptic interfaces; sampled data systems; stability; virtual reality; Hamiltonian systems; continuous time system; coupled system; discrete time system; discrete virtual environment; haptic displays; passive control; passivity; sampled data system; stability; Data systems; Displays; Feedback; Haptic interfaces; Humans; Nonlinear dynamical systems; Sampling methods; Stability analysis; Student members; Virtual environment;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1044039
