Adaptive force feedback control of haptic devices in a virtual environment

Khashayar Khorasani

doi:10.1117/12.354471

23 July 1999 Adaptive force feedback control of haptic devices in a virtual environment

Khashayar Khorasani

Proceedings Volume 3694, Modeling, Simulation, and Visualization for Real and Virtual Environments; (1999) https://doi.org/10.1117/12.354471
Event: AeroSense '99, 1999, Orlando, FL, United States

Abstract

This paper deals with adaptive force feedback control of haptic devices that will enable users to interact more realistically with a virtual environment. A system based approach to designing an indirect adaptive output feedback control for a class of single-input single-output nonlinear systems in the explicit input-output differential representation is presented. It is assumed that the zero dynamics associated with the coupled haptic interface/virtual environment is a nonlinear system that is exponentially stable, that is, the system enjoys a minimum- phase property. The proposed nonlinear adaptive controller is implemented using output feedback that can be obtained from the sensors available in the system.

Citation Download Citation

Khashayar Khorasani "Adaptive force feedback control of haptic devices in a virtual environment", Proc. SPIE 3694, Modeling, Simulation, and Visualization for Real and Virtual Environments, (23 July 1999); https://doi.org/10.1117/12.354471

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