Low-order controller design for haptic systems under delayed feedback
IFAC Proceedings Volumes (IFAC-PapersOnline)
43 - 48
MetadataShow full item record
Please cite this item using this persistent URLhttp://hdl.handle.net/11693/28166
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.
- Conference Paper 2294
Showing items related by title, author, creator and subject.
Çakmakci, M.; Ulsoy, A.G. (2011)In the early days of computer control, only one centralized computer was responsible for executing the algorithms. Increasingly, computer control algorithms reside inside individual system components in a distributed ...
Ünal H.U.; Ataşlar-Ayyildiz, B.; Iftar, A.; Özbay H. (2010)Robust controller design for a flow control problem where uncertain multiple time-varying time-delays exist is considered. Although primarily data-communication networks are considered, the presented approach can also be ...
Morgül Ö. (Institute of Electrical and Electronics Engineers Inc., 2003)We consider the delayed feedback control (DFC) scheme for one dimensional discrete time systems. To analyze the stability, we construct a map whose fixed points correspond to the periodic orbits of the system to be controlled. ...