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
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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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