Low-order controller design for haptic systems under delayed feedback
Date
2012
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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.
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International Federation of Automatic Control
IFAC Proceedings Volumes
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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
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English