Browsing by Subject "Stability limit"

Filter results by typing the first few letters
Now showing 1 - 2 of 2
  • Thumbnail Image
    ItemOpen Access
    Low-order controller design for haptic systems under delayed feedback
    (2012) Liacu, B.; Koru, A. T.; Özbay, Hitay; Niculescu, S. -I.; Andriot, C.
    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.
  • Thumbnail Image
    ItemOpen Access
    Stability analysis of human–adaptive controller interactions
    (American Institute of Aeronautics and Astronautics (AIAA), 2017) Yücelen, T.; Yıldız, Yıldıray; Sipahi, R.; Yousefi, Ehsan; Nguyen, N.
    In this paper, stability of human in the loop model reference adaptive control architectures is analyzed. For a general class of linear human models with time-delay, a fundamental stability limit of these architectures is established, which depends on the parameters of this human model as well as the reference model parameters of the adaptive controller. It is shown that when the given set of human model and reference model parameters satisfy this stability limit, the closed-loop system trajectories are guaranteed to be stable. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.