Low-order controller design for haptic systems under delayed feedback

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buir.contributor.authorÖzbay, Hitay
dc.citation.epage48en_US
dc.citation.issueNumber14en_US
dc.citation.spage43en_US
dc.citation.volumeNumber10en_US
dc.contributor.authorLiacu, B.en_US
dc.contributor.authorKoru, A. T.en_US
dc.contributor.authorÖzbay, Hitayen_US
dc.contributor.authorNiculescu, S. -I.en_US
dc.contributor.authorAndriot, C.en_US
dc.coverage.spatialNortheastern University, Boston, USAen_US
dc.date.accessioned2016-02-08T12:12:56Z
dc.date.available2016-02-08T12:12:56Z
dc.date.issued2012en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionConference name: Proceedings of the 10-th IFAC Workshop on Time Delay Systems The International Federation of Automatic Controlen_US
dc.descriptionDate of Conference: 22-24 June 2012en_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.3182/20120622-3-US-4021.00049en_US
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/11693/28166
dc.language.isoEnglishen_US
dc.relation.isversionofhttps://doi.org/10.3182/20120622-3-US-4021.00049en_US
dc.source.titleInternational Federation of Automatic Control IFAC Proceedings Volumesen_US
dc.subjectH-infinity optimizationen_US
dc.subjectPID controlen_US
dc.subjectStability limitsen_US
dc.subjectTeleoperationen_US
dc.subjectTime delayen_US
dc.subjectComplete stabilityen_US
dc.subjectController gainen_US
dc.subjectDelayed feedbacken_US
dc.subjectExperimental platformen_US
dc.subjectH-infinityen_US
dc.subjectHaptic systemsen_US
dc.subjectLocal dynamicsen_US
dc.subjectLow-order controller designen_US
dc.subjectMechanical dynamicsen_US
dc.subjectOptimal choiceen_US
dc.subjectOptimization techniquesen_US
dc.subjectPD controllersen_US
dc.subjectSecond ordersen_US
dc.subjectStability limiten_US
dc.subjectStability marginsen_US
dc.subjectTheoretical resulten_US
dc.subjectThree degree of freedomsen_US
dc.subjectDynamicsen_US
dc.subjectOptimizationen_US
dc.subjectRemote controlen_US
dc.subjectThree term control systemsen_US
dc.subjectTime delayen_US
dc.titleLow-order controller design for haptic systems under delayed feedbacken_US
dc.typeConference Paperen_US
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