Stable bilateral teleoperation with phase transition and haptic feedback

摘要

This paper discusses active control of building structures subjected to tri-directional seismic excitations. In order to apply the digital control and analyze the properties of the building structure, we first obtain nonlinear discrete-time hysteretic model. Then we transform it into full-state linear systems. The active control uses poleplacement design. The necessary and sufficient conditions for the stability of proposed control are also presented. The theory results are verified by a two-story building prototype. The experimental results validate our analysis.