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Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering

Hulin, Thomas (2017) Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering. Dissertation, Leibniz Universität Hannover.

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Official URL: http://www.pzh-verlag.de/katalog/details/?isbn=978-3-95900-130-4

Abstract

Haptic rendering denotes the process of computing and displaying forces from a virtual environment to a human operator via a haptic device. From the control point of view, the haptic system comprising virtual environment, haptic device, and human operator is a hybrid control system that contains both discrete- and continuous-time elements. Discrete-time sampling as well as time delay that is typically present in such haptic systems may lead to unstable behavior. This thesis investigates stability, passivity, and control design of such hybrid system. Its primary goal is to close some of the existing lacks in the current state of research, in particular to analyze the influence of the human operator on a haptic system behavior, to investigate the precise effect of delay and discrete-time sampling, and to introduce optimal control methods to the field of haptic rendering.

Item URL in elib:https://elib.dlr.de/112719/
Document Type:Thesis (Dissertation)
Additional Information:ISBN: 978-3-95900-130-4
Title:Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Date:18 April 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:157
Status:Published
Keywords:haptic rendering, time delay, stability analysis, passivity analysis, optimal control
Institution:Leibniz Universität Hannover
Department:Institute of Mechatronic Systems (imes)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben OOS: Virtuelle Realität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:19 Jun 2017 11:40
Last Modified:19 Jun 2017 11:40

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