Low-order controller design for haptic systems under delayed feedback
Date
2012Source Title
International Federation of Automatic Control
IFAC Proceedings Volumes
Print ISSN
1474-6670
Volume
10
Issue
14
Pages
43 - 48
Language
English
Type
Conference PaperItem Usage Stats
155
views
views
284
downloads
downloads
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 optimizationPID 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/11693/28166Published Version (Please cite this version)
https://doi.org/10.3182/20120622-3-US-4021.00049Collections
Related items
Showing items related by title, author, creator and subject.
-
Reliable decentralised control of delayed MIMO plants
(Taylor & Francis, 2010-03)Reliable decentralised proportional-integral-derivative controller synthesis methods are presented for closed-loop stabilisation of linear time-invariant plants with two multi-input, multi-output (MIMO) channels subject ... -
Quality control chart design under jidoka
(John Wiley & Sons, Inc., 2009)We consider design of control charts in the presence of machine stoppages that are exogenously imposed (as under jidoka practices). Each stoppage creates an opportunity for inspection/repair at reduced cost. We first model ... -
Economic design of EWMA control charts based on loss function
(Elsevier, 2009)For monitoring the stability of a process, various control charts based on exponentially weighted moving average (EWMA) statistics have been proposed in the literature. We study the economic design of EWMA-based mean and ...
