A novel theory for sampled data system passivity

This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.

[1]  J. Edward Colgate,et al.  Implementation of stiff virtual walls in force-reflecting interfaces , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[2]  A. Schaft.  L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences 218 , 1996 .

[3]  Neville Hogan,et al.  Controlling impedance at the man/machine interface , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[4]  O. Gonzalez.  Time integration and discrete Hamiltonian systems , 1996 .

[5]  Randy A. Freeman,et al.  Guaranteed stability of haptic systems with nonlinear virtual environments , 2000, IEEE Trans. Robotics Autom..

[6]  Stefano Stramigioli,et al.  Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach , 2001 .

[7]  M. Dalsmo,et al.  Mathematical structures in the network representation of energy-conserving physical systems , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[8]  Blake Hannaford,et al.  Stable haptic interaction with virtual environments , 1999, IEEE Trans. Robotics Autom..

[9]  Bonaventure Intercontinental,et al.  ON DECISION AND CONTROL , 1985 .

[10]  Hans-Peter Kriegel,et al.  Stable Haptic Interaction with Virtual Environments Using and Adapted Voxmap-PointShell Algorithm , 2001 .

[11]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997, J. Field Robotics.

[12]  Blake Hannaford,et al.  Time domain passivity control of haptic interfaces , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).