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- W2039934885 abstract "This paper addresses the stable implementation of high stiffness interactions of objects in the virtual environment. The virtual wall is modeled as a mechanical system including a linear spring characterized by a virtual stiffness and a damper with a virtual damping in parallel. A novel approach for improving the stability of discrete-time haptic systems in the case of time-varying delay is proposed by using an augmented state observer instead of the traditional backward finite differentiator. Based on Lyapunov's stability theory, the delay-dependent asymptotic stability condition expressed in terms of LMI for choosing the virtual-wall parameters is presented. The numerical simulation results in the case of the PHANTOM 1.0 haptic devices are included in order to prove the effectiveness of the proposed method." @default.
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- W2039934885 date "2013-01-01" @default.
- W2039934885 modified "2023-10-16" @default.
- W2039934885 title "Control of Haptic Systems with Time-varying Delay: a Novel Approach" @default.
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- W2039934885 doi "https://doi.org/10.3182/20130204-3-fr-4031.00136" @default.
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