Haptic Actuator Controller Dynamic Gain Scheduling

The patent applies dynamic gain adjustment by switching between different gain values based on the actuator's operational state. During startup, a first gain value is used to provide fast response, while during braking when the actuator is nearly stopped, a second gain value is applied to maintain stability. This dynamic adaptation resolves the contradiction between speed and stability by optimizing gain for each operational phase.

The controller changes the feedback gain parameter based on the actuator's velocity state. When the actuator is moving, higher gains are acceptable for fast response. When the actuator approaches zero velocity during braking, the gain is reduced to prevent oscillations. This parameter change strategy allows the system to achieve both fast response and stability at different operational moments.

The patent dynamically adjusts the feedback gain during the braking interval based on the actuator's instantaneous velocity. Initially, higher gains are applied to achieve fast deceleration. As the actuator approaches zero velocity, the controller detects this state and switches to a lower gain value to prevent oscillations. This dynamic gain scheduling resolves the contradiction between braking speed and braking stability.

The controller prepares for potential oscillations by monitoring the actuator's velocity and anticipating the transition to low-speed operation during braking. Before oscillations can occur, the controller preemptively adjusts the gain value when it detects the actuator is nearing stop, ensuring smooth deceleration without instability.

The patent implements a dynamic gain control mechanism that automatically adjusts feedback gains based on the actuator's operational state (startup vs. braking). This adds complexity to the controller logic but significantly improves operational stability across different conditions. The dynamic adaptation allows the system to maintain optimal performance without manual intervention.

The controller uses feedback from the actuator's velocity and position to determine when to switch between different gain values. During braking, when the actuator velocity approaches zero, the feedback mechanism triggers a gain reduction to prevent oscillations. This feedback-driven gain adjustment maintains stability across varying operating conditions while keeping the control logic relatively simple.