NDLI: Performance/Stability Robustness Tradeoffs Induced by the Two-Port Virtual Coupler

Content Provider	IEEE Xplore Digital Library
Author	Griffiths, P.G. Gillespie, R.B. Freudenberg, J.S.
Copyright Year	2006
Description	Author affiliation: Dept. of Mechanical Engineering University of Michigan, e-mail: paulgrif@umich.edu (Griffiths, P.G.)
Abstract	In this paper, we apply the theory of fundamental design limitations to haptic interface systems that employ only motion sensors. A multivariable feedback controller connects a haptic device with a virtual environment, where the design objective is accurate rendering of the force/motion response of the environment to the operator. We consider the control design without force sensing and extend previous work by determining fundamental limits on the achievable performance. We also apply a tradeoff between performance and stability robustness, inherent to certain multivariable systems, to show that the best achievable performance induces compromised stability robustness. A controller that attains the limiting performance is compared against a standard spring-damper virtual coupler with a simulation study.
Starting Page	193
Ending Page	200
File Size	257193
Page Count	8
File Format	PDF
ISBN	1424402263
DOI	10.1109/HAPTIC.2006.1627066
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-03-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust stability Haptic interfaces Force sensors Sensor systems Adaptive control Virtual environment Rendering (computer graphics) Force feedback Control design Force control ideal kinesthetic coupling position-position control architecture fundamental design limitations stability robustness
Content Type	Text
Resource Type	Article

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