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23 July 1999 Adaptive force feedback control of haptic devices in a virtual environment
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This paper deals with adaptive force feedback control of haptic devices that will enable users to interact more realistically with a virtual environment. A system based approach to designing an indirect adaptive output feedback control for a class of single-input single-output nonlinear systems in the explicit input-output differential representation is presented. It is assumed that the zero dynamics associated with the coupled haptic interface/virtual environment is a nonlinear system that is exponentially stable, that is, the system enjoys a minimum- phase property. The proposed nonlinear adaptive controller is implemented using output feedback that can be obtained from the sensors available in the system.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Khashayar Khorasani "Adaptive force feedback control of haptic devices in a virtual environment", Proc. SPIE 3694, Modeling, Simulation, and Visualization for Real and Virtual Environments, (23 July 1999);

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