Disturbance observer based closed loop control of haptic interfaces

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dc.contributor.advisorO'Malley, Marcia K.en_US
dc.creatorGupta, Abhisheken_US
dc.date.accessioned2018-12-03T18:31:48Zen_US
dc.date.available2018-12-03T18:31:48Zen_US
dc.date.issued2008en_US
dc.description.abstractTraditionally, control of haptic interfaces is achieved using open-loop impedance or admittance control. During open-loop control, the quality of haptic feedback is limited by the dynamics of the haptic device. Further improvements in quality of the haptic feedback require the use of closed-loop control techniques. Closed loop control of haptic interfaces is limited due to stability and cost considerations associated with closed loop force control. In this work, a non-linear disturbance observer for estimating human-machine contact forces during haptic interactions is presented. These estimated forces are then used for closed loop impedance control of the haptic interface. Globally exponential stability of the disturbance observer under the assumption of slowly varying disturbances is demonstrated. Finally, simulation and experimental results corresponding to disturbance observer based closed-loop control of a haptic interface are provided. Qualitative as well as quantitative comparison of the performance of disturbance observer-based control with traditional open and closed loop controllers is presented. In addition to control of haptic interfaces, the disturbance observer can be employed for contact force estimation between the slave and environment during teleoperation.en_US
dc.format.extent95 ppen_US
dc.identifier.callnoTHESIS M.E. 2009 GUPTAen_US
dc.identifier.citationGupta, Abhishek. "Disturbance observer based closed loop control of haptic interfaces." (2008) Diss., Rice University. <a href="https://hdl.handle.net/1911/103604">https://hdl.handle.net/1911/103604</a>.en_US
dc.identifier.digital304510319en_US
dc.identifier.urihttps://hdl.handle.net/1911/103604en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectMechanical engineeringen_US
dc.subjectRoboticsen_US
dc.subjectApplied sciencesen_US
dc.subjectClosed-loop controlen_US
dc.subjectControlen_US
dc.subjectDisturbance observeren_US
dc.subjectForce feedbacken_US
dc.subjectHaptic interfacesen_US
dc.subjectHaptics Roboticsen_US
dc.titleDisturbance observer based closed loop control of haptic interfacesen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelDoctoralen_US
thesis.degree.nameDoctor of Philosophyen_US
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