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A Power-Based Time Domain Passivity Control for Haptic Interfaces | IEEE Journals & Magazine | IEEE Xplore

A Power-Based Time Domain Passivity Control for Haptic Interfaces


Abstract:

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...Show More

Abstract:

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.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 19, Issue: 4, July 2011)
Page(s): 874 - 883
Date of Publication: 30 August 2010

ISSN Information:


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