 Augmented observer approach for high-impedance haptic system with time delayQuoc Viet Dang, Laurent Vermeiren, Antoine Dequidt and Michel Dambrine Mathematics and Computers in Simulation (MATCOM), 2015, vol. 113, issue C, 51-68 Abstract: Among others measures of performance, a haptic device may be characterized by its behavior in the implementation of a virtual wall in terms of the biggest value of the virtual stiffness leaving stable the device. This value depends on many factors including time delays and the virtual world implementation. The paper proposes a new architecture for this latter one based on the use of an augmented state observer which contributes to improve without additional costs the performance of a haptic device with respect to the standard implementation based on the use of the backward finite difference method. In order to compute the stability boundaries of the device in terms of virtual wall parameters, a new LMI criterion for the stability of discrete-time systems with time-varying delay is given. Some numerical simulation results are included to prove the effectiveness of the proposed approach. Keywords: Augmented input observer; Time-varying communication delay; Haptic device; Linear matrix inequality (search for similar items in EconPapers) Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:113:y:2015:i:c:p:51-68 DOI: 10.1016/j.matcom.2014.07.007 Access Statistics for this article Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier |
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