햅틱제어에서의 이동평균필터를 이용한 외란관측기의 안정성 분석Stability Analysis of the Disturbance Observer Using a Moving Average Filter for Haptic Control

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Haptic control of a haptic interface should be satisfied robustness and stability at the same time. Disturbance observer can enhance the robustness of the haptic control. However, the compatibility between the haptic control and the haptic simulation is a problem to use the disturbance observer. Moving average filter is suggested to solve the compatibility problem. The disturbance observer using the moving average filter has no limit to build in any development platforms. We accomplished a stability analysis of the disturbance observer using the moving average filter. The analysis results shows that stability is satisfied. Therefore, the moving average filter is the solution of robustness, stability, and the compatibility problems.
Publisher
ICROS
Issue Date
2012-04-05
Language
KOR
Citation

2012 제27회 ICROS학술대회, pp.357 - 358

URI
http://hdl.handle.net/10203/169412
Appears in Collection
ME-Conference Papers(학술회의논문)
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