A design method of wave filter for stabilizing non-passive operating system

Takanori Miyoshi, Kazuhiko Terasima, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.

Original languageEnglish
Title of host publicationProceedings of the 2006 IEEE International Conference on Control Applications
Pages1318-1324
Number of pages7
DOIs
StatePublished - 2007
EventJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich, Germany
Duration: 4 Oct 20066 Oct 2006

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

ConferenceJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Country/TerritoryGermany
CityMunich
Period4/10/066/10/06

Fingerprint

Dive into the research topics of 'A design method of wave filter for stabilizing non-passive operating system'. Together they form a unique fingerprint.

Cite this