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A Smith-prediction based haptic feedback controller for time delayed virtual environments systems

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3 Author(s)
H. Arioui ; Complex Syst. Lab., Evry Univ., France ; S. Mammar ; T. Hamel

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.

Published in:

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)  (Volume:5 )

Date of Conference:

8-10 May 2002