Passivity of a class of sampled-data systems: application to haptic interfaces

Ed Colgate*, Gerd Schenkel

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

176 Scopus citations

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'). A necessary and sufficient condition for the passivity of a class of sampled-data systems is derived. An example - implementation of a 'virtual wall' via a one degree-of-freedom haptic interface - is presented.

Original languageEnglish (US)
Pages (from-to)3236-3240
Number of pages5
JournalProceedings of the American Control Conference
Volume3
StatePublished - Dec 1 1994

ASJC Scopus subject areas

  • Control and Systems Engineering

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