Communication Dans Un Congrès Année : 2002

A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments Systems

Hichem Arioui
Saïd Mammar
Tarek Hamel

Résumé

In this paper a modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.

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hal-00702177 , version 1 (29-05-2012)

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  • HAL Id : hal-00702177 , version 1

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Hichem Arioui, Saïd Mammar, Tarek Hamel. A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments Systems. American Control Conference, May 2002, Anchorage, United States. pp.4303-4309. ⟨hal-00702177⟩
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