Title :
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
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;
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
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399978
