A robustness analysis of master-model based controller for stabilizing delayed haptic interaction: An LMI approach.

被引：0
|
作者：
Arioui, H [1 ]
Kheddar, A [1 ]
Mammar, S [1 ]
机构：
[1] CNRS FRE 2494, Lab Syst Complexes, F-91020 Evry, France
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
D O I：
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中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper extends previous results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. The proposed method evolved from our previous earlier work where we apply Smith prediction principle on delayed haptic feedback interaction. We will show that the proposed approach is easy to implement and it is original since it investigates another way to formulate stable haptic feedback algorithm and can be generalized for n-degree of freedom. It requires to know only the master interface.
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页码：1449 / 1455
页数：7
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