Low-order controller design for haptic systems under delayed feedback
IFAC Proceedings Volumes (IFAC-PapersOnline)
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.
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