Low-order controller design for haptic systems under delayed feedback
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Date
2012Journal Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN
14746670
Volume
10
Issue
PART 1
Pages
43 - 48
Language
English
Type
Conference Paper
Metadata
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http://hdl.handle.net/11693/28166Abstract
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.
Published as
http://dx.doi.org/10.3182/20120622-3-US-4021.00049Collections
- Conference Paper 2294
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