A smith-prediction based haptic feedback controller for time delayed virtual environments systems
Identifieur interne : 007431 ( Main/Exploration ); précédent : 007430; suivant : 007432A smith-prediction based haptic feedback controller for time delayed virtual environments systems
Auteurs : H. Arioui [France] ; S. Mammar [France] ; T. Hamel [France]Source :
- Proceedings of the ... American Control Conference [ 0743-1619 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
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Abstract
In this paper a modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.
Affiliations:
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Le document en format XML
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Arioui</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Complex Systems Laboratory - Evry University, 40, rue du Pelvoux</s1><s2>91020 Evry</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Evry</settlement></placeName></affiliation></author><author><name sortKey="Mammar, S" sort="Mammar, S" uniqKey="Mammar S" first="S." last="Mammar">S. Mammar</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Complex Systems Laboratory - Evry University, 40, rue du Pelvoux</s1><s2>91020 Evry</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Evry</settlement></placeName></affiliation></author><author><name sortKey="Hamel, T" sort="Hamel, T" uniqKey="Hamel T" first="T." last="Hamel">T. Hamel</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Complex Systems Laboratory - Evry University, 40, rue du Pelvoux</s1><s2>91020 Evry</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Evry</settlement></placeName></affiliation></author></analytic><series><title level="j" type="main">Proceedings of the ... American Control Conference</title><idno type="ISSN">0743-1619</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Proceedings of the ... American Control Conference</title><idno type="ISSN">0743-1619</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Closed feedback</term><term>Control synthesis</term><term>Control system</term><term>Delay time</term><term>Delayed time</term><term>Feedback regulation</term><term>Predictor</term><term>Tactile sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système commande</term><term>Rétroaction</term><term>Synthèse commande</term><term>Commande boucle fermée</term><term>Sensibilité tactile</term><term>Temps retard</term><term>Temps différé</term><term>Réalité virtuelle</term><term>Interface utilisateur</term><term>Prédicteur</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper a modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Île-de-France</li></region><settlement><li>Evry</li></settlement></list><tree><country name="France"><region name="Île-de-France"><name sortKey="Arioui, H" sort="Arioui, H" uniqKey="Arioui H" first="H." last="Arioui">H. Arioui</name></region><name sortKey="Hamel, T" sort="Hamel, T" uniqKey="Hamel T" first="T." last="Hamel">T. Hamel</name><name sortKey="Mammar, S" sort="Mammar, S" uniqKey="Mammar S" first="S." last="Mammar">S. Mammar</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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