A design method of wave filter for stabilizing non-passive operating system
A design method of wave filter for stabilizing non-passive operating system
复制标题
一种稳定非无源操作系统的滤波器设计方法
DOI：
10.1109/cacsd-cca-isic.2006.4776833
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Buss
中科院分区：
文献类型：
--
作者：
T. Miyoshi;Kazuhiko Terasima;M. Buss
本文提出了力-位触觉遥操作系统。虽然力-位置系统通常是非无源的，但通过滤波器将回路增益的H∞范数抑制到小于1来确保稳定性。在该系统中，在静态下实现了精确定位和透明性。实验还证明了系统的粘度随时间和滤波器阶跃响应的增加而增加。我们所提出的方法的优点是证明了慕尼黑和丰桥通过互联网与显着的数据包丢失之间的遥操作的实验。仿真结果表明了该模型的有效性。
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.