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      Low-order controller design for haptic systems under delayed feedback

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      Author
      Liacu, B.
      Koru, A. T.
      Özbay, Hitay
      Niculescu, S. -I.
      Andriot, C.
      Date
      2012
      Source Title
      International Federation of Automatic Control IFAC Proceedings Volumes
      Print ISSN
      1474-6670
      Volume
      10
      Issue
      14
      Pages
      43 - 48
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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      Abstract
      In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H ∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. © 2012 IFAC.
      Keywords
      H-infinity optimization
      PID control
      Stability limits
      Teleoperation
      Time delay
      Complete stability
      Controller gain
      Delayed feedback
      Experimental platform
      H-infinity
      Haptic systems
      Local dynamics
      Low-order controller design
      Mechanical dynamics
      Optimal choice
      Optimization techniques
      PD controllers
      Second orders
      Stability limit
      Stability margins
      Theoretical result
      Three degree of freedoms
      Dynamics
      Optimization
      Remote control
      Three term control systems
      Time delay
      Permalink
      http://hdl.handle.net/11693/28166
      Published Version (Please cite this version)
      https://doi.org/10.3182/20120622-3-US-4021.00049
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      • Department of Electrical and Electronics Engineering 3339

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