• About
  • Policies
  • What is openaccess
  • Library
  • Contact
Advanced search
      View Item 
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      JavaScript is disabled for your browser. Some features of this site may not work without it.

      Optimizing low-order controllers for haptic systems under delayed feedback

      Thumbnail
      View / Download
      2.6 Mb
      Author
      Liacu, B.
      Koru, A. T.
      Özbay, H.
      Niculescu, S. -I.
      Andriot, C.
      Date
      2013-05
      Source Title
      Control Engineering Practice
      Print ISSN
      0967-0661
      Publisher
      Elsevier
      Volume
      21
      Issue
      5
      Pages
      655 - 668
      Language
      English
      Type
      Article
      Item Usage Stats
      60
      views
      54
      downloads
      Metadata
      Show full item record
      Abstract
      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.
      Keywords
      H-infinity Optimization
      Haptics
      Pid Control
      Stability Limits
      Teleoperation
      Time-delay
      Permalink
      http://hdl.handle.net/11693/12913
      Published Version (Please cite this version)
      http://dx.doi.org/10.1016/j.conengprac.2013.01.001
      Collections
      • Department of Electrical and Electronics Engineering 3337

      Browse

      All of BUIRCommunities & CollectionsTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsThis CollectionTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartments

      My Account

      Login

      Statistics

      View Usage Statistics

      Bilkent University

      If you have trouble accessing this page and need to request an alternate format, contact the site administrator. Phone: (312) 290 1771
      Copyright © Bilkent University | Library IT

      Contact Us | Send Feedback | Off-Campus Access | Admin