{"title":"触觉设备与虚拟环境交互的控制策略","authors":"M. Zadeh, K. Khorasani","doi":"10.1109/RAMECH.2004.1438913","DOIUrl":null,"url":null,"abstract":"This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"476 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Control strategies for a haptic device interfacing with virtual environment\",\"authors\":\"M. Zadeh, K. Khorasani\",\"doi\":\"10.1109/RAMECH.2004.1438913\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"476 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438913\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438913","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control strategies for a haptic device interfacing with virtual environment
This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
