A Power-Based Time Domain Passivity Control for Haptic Interfaces

被引：43

作者：

Ye, Yongqiang ^{[1
]}

Pan, Ya-Jun ^{[1
]}

Gupta, Yash ^{[2
]}

Ware, Julian ^{[1
]}

机构：

[1] Dalhousie Univ, Dept Mech Engn, Halifax, NS B3J 2X4, Canada

[2] Dalhousie Univ, Dept Proc Engn & Appl Sci, Halifax, NS B3J 2X4, Canada

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2011年 / 19卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Haptic interface; passivity controller (PC); passivity observer; stability; time domain passivity control; BILATERAL TELEOPERATION; STABILITY; DELAY;

D O I：

10.1109/TCST.2010.2062513

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this brief, a power-based time domain passivity control is presented. The new passivity observer (PO) monitors the current power behavior and decides the activation of the passivity controller (PC). The PC output is distributed along the time index and sudden big force change is alleviated. Applications of the approach to haptic interfaces are simulated. Extensive comparisons with the two existing energy based approaches are made. Both simulation results and experimental results show that the performance of the proposed approach is promising in terms of stability and fidelity.

引用

页码：874 / 883

页数：10

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