Optimizing low-order controllers for haptic systems under delayed feedback
Author
Liacu, B.
Koru, A. T.
Özbay, H.
Niculescu, S. -I.
Andriot, C.
Date
2013-05Source Title
Control Engineering Practice
Print ISSN
0967-0661
Publisher
Elsevier
Volume
21
Issue
5
Pages
655 - 668
Language
English
Type
ArticleItem Usage Stats
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Show full item recordAbstract
In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H∞ and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results.