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Content Provider | IEEE Xplore Digital Library |
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Author | Yongqiang Ye Ya-Jun Pan Gupta, Y. |
Copyright Year | 2009 |
Description | Author affiliation: Department of Mechanical Engineering, Dalhousie University, Halifax, NS B3J 2X4, Canada (Ya-Jun Pan) || College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu 210016, China (Yongqiang Ye) || Department of Process Engineering and Applied Science, Dalhousie University, Halifax, NS B3J 2X4, Canada (Gupta, Y.) |
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. |
Starting Page | 7521 |
Ending Page | 7526 |
File Size | 1633197 |
Page Count | 6 |
File Format | |
ISBN | 9781424438716 |
ISSN | 01912216 |
DOI | 10.1109/CDC.2009.5399978 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-12-15 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Haptic interfaces Damping Virtual environment Estimation error Computational modeling Humans Delay effects Mechanical engineering Quantization Discrete time systems |
Content Type | Text |
Resource Type | Article |
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