Lyapunov observer/controller for stable haptic interaction

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

Abstract

© 2018 IEEE. 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.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
• Start Date: Jul 9, 2018
• End Date: Jul 12, 2018
• Acceptance Date: Apr 28, 2018
• Online Publication Date: Sep 3, 2018
• Publication Date: Aug 30, 2018
• Deposit Date: Jul 9, 2018
• Publicly Available Date: Jul 9, 2018
• Volume: 2018-July
• Pages: 1-6
• ISBN: 9781538618547
• DOI: https://doi.org/10.1109/AIM.2018.8452311
• Keywords: stability, haptics
• Public URL: https://uwe-repository.worktribe.com/output/864606
• Publisher URL: https://doi.org/10.1109/AIM.2018.8452311
• Additional Information: Additional Information : (c) 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.; Title of Conference or Conference Proceedings : 2018 IEEE International Conference on Advanced Intelligent Mechatronics