Name
Abstract | ||
|---|---|---|
This paper presents an analytic design of multirate controllers to guarantee stable haptic interaction and high fidelity. When the reflective force is computed by using slowly-simulated virtual model, the control frequency of the conventional controller becomes low. This increases the zero-order-hold effect, and makes the system unstable. We propose a multirate control method to reduce the zero-order-hold effect. The multirate controller is implemented by adding a high-frequency controller to the conventional controller. The high-frequency controller is designed to compensate the energy generated by the conventional controller. The stability analysis of the multirate haptic control system shows that the stiffness of the virtual model can be increased while maintaining the stability. A nonlinear virtual coupling is designed using this multirate control scheme. The multirate controller is evaluated by mathematical analysis and experiments. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ICSMC.2004.1400712 | 2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7 |
Keywords | Field | DocType |
haptic control, multirate control | High fidelity,Control theory,Nonlinear system,Virtual reality,Coupling,Simulation,Computer science,Control theory,Control system,Open-loop controller,Haptic technology | Conference |
ISSN | Citations | PageRank |
1062-922X | 4 | 0.44 |
References | Authors | |
5 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| kyungno lee | 1 | 24 | 3.83 |
| Doo Yong Lee | 2 | 252 | 34.35 |