A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments Systems

Hichem Arioui (1) , Saïd Mammar (1) , Tarek Hamel (1)

1 LSC - Laboratoire Systèmes Complexes

In this paper a modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.

Mots clés: Haptic; Time Delay; Smith Prediction

Domaines: Automatique / Robotique

Hichem Arioui, Saïd Mammar, Tarek Hamel. A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments Systems. American Control Conference, May 2002, Anchorage, United States. pp.4303-4309. ⟨hal-00702177⟩