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Proceedings Paper

Adaptive force feedback control of haptic devices in a virtual environment
Author(s): Khashayar Khorasani
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Paper 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.

Paper Details

Date Published: 23 July 1999
PDF: 12 pages
Proc. SPIE 3694, Modeling, Simulation, and Visualization for Real and Virtual Environments, (23 July 1999); doi: 10.1117/12.354471
Show Author Affiliations
Khashayar Khorasani, Concordia Univ. (Canada)


Published in SPIE Proceedings Vol. 3694:
Modeling, Simulation, and Visualization for Real and Virtual Environments
Nickolas L. Faust; Steve Kessinger; Steve Kessinger, Editor(s)

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