Stable haptic interaction with switched virtual environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 1241-1246

  Mahapatra, Saurabh ^a   Žefran, Miloš ^a  

^a University of Illinois at Chicago   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; FUNCTIONS; HUMAN COMPUTER INTERACTION; NUMERICAL METHODS; VIRTUAL REALITY;

HAPTIC SYSTEMS; HYBRID SYSTEMS; PASSIVITY; STABILITY ANALYSIS; STABLE HAPTIC INTERACTION;

HAPTIC INTERFACES;

EID: 0345307621     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (25)

1. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Transactions on Automatic Control, vol. 34, pp. 494-501, May 1989.
2. R. J. Anderson and M. W. Spong, "Asymptotic stability for force reflecting teleoperators with time delay," International Journal of Robotics Research, vol. 11, pp. 135-149, April 1992.
3. G. Niemeyer and J.-J. E. Slotine, "Towards force-reflecting teleoperation over the internet," in IEEE Conf. on Robotics and Automation, (Leuven, Belgium), pp. 1909-1915, 1998.
4. S. Stramigioli, A. v.d. Schaft, and B. Maschke, "Geometric scattering in tele-manipulation of port controlled Hamiltonian systems," in IEEE Conf. on Decision and Control, (Sydney, Australia), 2000.
5. B. Gillespie and M. Cutkosky, "Stable user-specific rendering of the virtual wall," in Proceedings of the ASME IMECE, vol. DSC-Vol. 58, (Atlanta, GA), pp. 397-406, 1996.
6. J. E. Colgate and G. G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," Journal of Robotic Systems, vol. 14, no. 1, pp. 37-47, 1997.
7. J. M. Brown and J. E. Colgate, "Passive implementation of multibody simulations for haptic display," in ASME International Mechanical Engineering Congress and Exhibition, vol. DSC-61, pp. 85-92, 1997.
8. R. J. Adams and B. Hannaford, "Stable haptic interaction with virtual environments," IEEE Transactions on Robotics and Automation, vol. 15, pp. 465-474, June 1999.
9. B. E. Miller, J. E. Colgate, and R. A. Freeman, "Guaranteed stability of haptic systems with nonlinear virtual environments," IEEE Transactions on Robotics and Automation, vol. 16, no. 6, pp. 712-719, 2000.
10. B. Hannaford and J.-H. Ryu, "Time-domain passivity control of haptic interfaces," IEEE Transactions on Robotics and Automation, vol. 18, no. 1, pp. 1-10, 2002.
11. R. Alur, T. A. Henzinger, and E. D. Sontag, eds., Hybrid systems III, vol. 1066 of Lecture notes in computer science, (New York, NY), Springer Verlag, 1996.
12. P. Antsaklis, W. Kohn, A. Nerode, and S. S. Sastry, eds., Hybrid systems II, vol. 999 of Lecture notes in computer science, (New York, NY), Springer Verlag, 1995.
13. R. L. Grossman, A. Nerode, A. P. Ravn, and H. Rischel, eds., Hybrid systems, vol. 736 of Lecture notes in computer science, (New York, NY), Springer Verlag, 1993.
14. M. S. Branicky, "Stability of switched and hybrid systems," in IEEE Conf. on Decision and Control, (Lake Buena Vista, FL), pp. 3498-3503, 1994.
15. P. Peleties and R. DeCarlo, "Asymptotic stability of m-switched systems using Lyapunov-like functions," in American Control Conference, (Boston), pp. 1679-1684, 1991.
16. M. Johansson and A. Rantzer, "On the computation of piecewise quadratic Lyapunov functions," in IEEE Conf. on Decision and Control, (San Diego, CA), 1997.
17. S. Pettersson and B. Lennartson, "Stability and robustness for hybrid systems," in IEEE Conf. on Decision and Control, (Kobe, Japan), 1996.
18. A. Hassibi and S. P. Boyd, "Quadratic stabilization and control of piecewise-linear systems," in American Control Conference, vol. 6, (Philadelphia, PA), pp. 3659-64, June 1998.
19. M. Žfran and J. W. Burdick, "Stabilization of systems with changing dynamics," in Hybrid Systems: Computation and Control, LNCS 1386, Springer Verlag, 1998.
20. M. Žefran, F. Bullo, and M. Stein, "A notion of passivity for hybrid systems," in IEEE Conf. on Decision and Control, (Orlando, FL), pp. 768-773, 2001.
21. J. E. Colgate, M. C. Stanley, and J. M. Brown, "Issues in the haptic display of tool use," in Int. Conf. on Intelligent Robots and Systems, 1995.
22. H. K. Khalil, Nonlinear systems. New York: Macmillan Publishing Company, 1992.
23. R. A. Decarlo, M. S. Branicky, S. Pettersson, and B. Lennartson, "Perspectives and results on the stability and stabilizability of hybrid systems," Proceedings of the IEEE, vol. 88, no. 7, pp. 1069-1082, 2000.
24. G. A. Lafferriere, "Discontinuous stabilizing feedback using partially defined Lyapunov functions," in IEEE Conf. on Decision and Control, (Orlando, FL), 1994.
25. A. A. Agrachev and D. Liberzon, "Lie-algebraic stability criteria for switched systems," SIAM Journal of Control and Optimization, vol. 40, no. 1, pp. 253-269, 2001.