Abstract
Passivity of systems comprising a continuous time plant and discrete time controller is considered. This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces ("haptic interfaces"). Necessary conditions for passivity are found via a small gain condition, and sufficient conditions are found via an application of Parseval's theorem and a sequence of frequency domain manipulations. An example - implementation of a "virtual wall" via a one degree-of-freedom haptic interface - is given and discussed in some detail.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 37-47 |
| Number of pages | 11 |
| Journal | Journal of Robotic Systems |
| Volume | 14 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 1997 |
| Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering