A design method of wave filter for stabilizing non-passive operating system

  title={A design method of wave filter for stabilizing non-passive operating system},
  author={Takanori Miyoshi and Kazuhiko Terasima and Martin Buss},
  journal={2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control},
In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is… CONTINUE READING
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