Output feedback control of wind display in a virtual environment

被引：12

作者：

Kulkarni, Sandip D. ^{[1
]}

Minor, Mark A. ^{[1
]}

Deaver, Mark W. ^{[1
]}

Pardyjak, Eric R. ^{[1
]}

机构：

[1] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

基金：

美国国家科学基金会;

关键词：

virtual reality; haptic interfaces; flow control; input-output stability;

D O I：

10.1109/ROBOT.2007.363089

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This research focuses on development of a haptic system to create controlled air flow acting on a user in the Treadport virtual environment. The Treadport Active Wind Tunnel (TPAWT) is thus created in order to produce air flow patterns that allow a variety of wind angles and speeds to be felt by the user. In order to control this system in real-time, the small gain theorem is used in conjunction with a dynamic extension to formulate an output feedback control law. Examples of controller formulations are derived and discrete time simulations in FLUENT demonstrate their effectiveness. The controller is then validated experimentally using a scale model of the TPAWT.

引用

页码：832 / 839

页数：8

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