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)|
|Number of pages||11|
|Journal||Journal of Robotic Systems|
|State||Published - Jan 1997|
ASJC Scopus subject areas
- Control and Systems Engineering