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Lyapunov Observer/Controller for Stable Haptic Interaction

Jafari, Aghil and Singh, Harsimran and Karunanayaka, Harsha and Ryu, Jee-Hwan and Chong, Jj and Etoundi, Appolinaire C. (2018) Lyapunov Observer/Controller for Stable Haptic Interaction. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1-6. IEEE. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 09-12 July 2018, Auckland, New Zealand. DOI: 10.1109/AIM.2018.8452311 ISBN 978-1-5386-1854-7 ISSN 2159-6255

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Official URL: https://ieeexplore.ieee.org/abstract/document/8452311/authors#authors

Abstract

Passivity has been the most common tool to achieve stability in haptic and teleoperation systems; however passivity-based approaches suffer from the conservativism of passivity criteria. Therefore, it is essential to have an approach which is less conservative than conventional approaches, enabling the user to have an immersive experience when interacting with the virtual or remote environment. This paper proposes a Lyapunov observed and controller (LOLC) which has an improved transparency as it uses the Lyapunov boundedness theorem that is less conservative than passivity theorem. The proposed approach also gives the user the freedom to define a relaxed Lyapunov candidate regarding state stability to be chosen. Moreover, the application of the proposed control architecture is not limited to haptic interfaces, and the proposed control methodology could be used to stabilize any control systems. The advantages of the proposed approach to the passivity observer and controller are highlighted via numerical evaluations.

Item URL in elib:https://elib.dlr.de/132709/
Document Type:Conference or Workshop Item (Speech)
Title:Lyapunov Observer/Controller for Stable Haptic Interaction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jafari, AghilUNSPECIFIEDUNSPECIFIED
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Karunanayaka, HarshaUNSPECIFIEDUNSPECIFIED
Ryu, Jee-Hwanjhryu (at) kaist.ac.krUNSPECIFIED
Chong, JjUNSPECIFIEDUNSPECIFIED
Etoundi, Appolinaire C.UNSPECIFIEDUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/AIM.2018.8452311
Page Range:pp. 1-6
Publisher:IEEE
ISSN:2159-6255
ISBN:978-1-5386-1854-7
Status:Published
Keywords:Haptic rendering, Lyapunov, stability
Event Title:2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Event Location:Auckland, New Zealand
Event Type:international Conference
Event Dates:09-12 July 2018
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 Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Singh, Harsimran
Deposited On:13 Dec 2019 10:26
Last Modified:13 Dec 2019 10:26

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