Lyapunov observer/controller for stable haptic interaction

Aghil Jafari, Harsimran Singh, Harsha Karunanayaka, Jee Hwan Ryu, Jj Chong, Appolinaire C. Etoundi

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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.

Original languageEnglish
Title of host publication2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2018)
Subtitle of host publicationProceedings of a meeting held 9-12 July 2018, Auckland, New Zealand
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-6
Number of pages6
ISBN (Electronic)9781538618547
ISBN (Print)9781538618554
DOIs
Publication statusE-pub ahead of print - 30 Aug 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Publication series

Name
ISSN (Print)2159-6255

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period9/07/1812/07/18

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