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dc.contributor.advisorÖzbay, Hitay
dc.contributor.authorKoru, Ahmet Taha
dc.date.accessioned2016-01-08T18:24:42Z
dc.date.available2016-01-08T18:24:42Z
dc.date.issued2012
dc.identifier.urihttp://hdl.handle.net/11693/15789
dc.descriptionAnkara : The Department of Electrical and Electronics Engineering and the Graduate School of Engineering and Sciences of Bilkent University, 2012.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2012.en_US
dc.descriptionIncludes bibliographical refences.en_US
dc.description.abstractThis thesis considers controller design for haptic systems under delayed position and velocity feedback. More precisely, a complete stability analysis of a haptic system, where local dynamics are described by some second-order mechanical dynamics, is presented. Characteristic equation of this system with time delays involves quasipolynomials. By a change of variables in the characteristic equation, stability conditions are obtained analytically and regions are plotted by using Matlab. Next, using two optimization techniques (H∞ and stability margin optimization) optimal choice for the controller gains is proposed. H∞ optimization minimizes tracking error between devices while avoiding large control action inputs. H∞ analysis requires high computational cost for accurate results due to its dependency to frequency domain. On the other hand, stability margin optimization defines a cost function that expresses the trade-off between system bandwidth and robustness with low computational cost. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. Finally robustness analysis is performed for optimal parameters to find allowable delay perturbationsen_US
dc.description.statementofresponsibilityKoru, Ahmet Tahaen_US
dc.format.extentxi, 58 leaves, illustrationsen_US
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjecthaptic systemsen_US
dc.subjecttime delayen_US
dc.subjectH-infinity optimizationen_US
dc.subjectstability limitsen_US
dc.subjectPD controlen_US
dc.subject.lccQA76.9.H85 K67 2012en_US
dc.subject.lcshHaptic devices.en_US
dc.subject.lcshHuman-computer interaction.en_US
dc.subject.lcshControl theory.en_US
dc.titleController design for haptic systems under delayed position and velocity feedbacken_US
dc.typeThesisen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.publisherBilkent Universityen_US
dc.description.degreeM.S.en_US


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