Controller design for haptic systems under delayed position and velocity feedback
buir.advisor | Özbay, Hitay | |
dc.contributor.author | Koru, Ahmet Taha | |
dc.date.accessioned | 2016-01-08T18:24:42Z | |
dc.date.available | 2016-01-08T18:24:42Z | |
dc.date.issued | 2012 | |
dc.description | Ankara : The Department of Electrical and Electronics Engineering and the Graduate School of Engineering and Sciences of Bilkent University, 2012. | en_US |
dc.description | Thesis (Master's) -- Bilkent University, 2012. | en_US |
dc.description | Includes bibliographical refences. | en_US |
dc.description.abstract | This thesis considers controller design for haptic systems under delayed position and velocity feedback. More precisely, a complete stability analysis of a haptic system, where local dynamics are described by some second-order mechanical dynamics, is presented. Characteristic equation of this system with time delays involves quasipolynomials. By a change of variables in the characteristic equation, stability conditions are obtained analytically and regions are plotted by using Matlab. Next, using two optimization techniques (H∞ and stability margin optimization) optimal choice for the controller gains is proposed. H∞ optimization minimizes tracking error between devices while avoiding large control action inputs. H∞ analysis requires high computational cost for accurate results due to its dependency to frequency domain. On the other hand, stability margin optimization defines a cost function that expresses the trade-off between system bandwidth and robustness with low computational cost. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. Finally robustness analysis is performed for optimal parameters to find allowable delay perturbations | en_US |
dc.description.provenance | Made available in DSpace on 2016-01-08T18:24:42Z (GMT). No. of bitstreams: 1 0006494.pdf: 1372899 bytes, checksum: ce68df4d3d808da22ed3516fe65bb7ab (MD5) | en |
dc.description.statementofresponsibility | Koru, Ahmet Taha | en_US |
dc.format.extent | xi, 58 leaves, illustrations | en_US |
dc.identifier.uri | http://hdl.handle.net/11693/15789 | |
dc.language.iso | English | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | haptic systems | en_US |
dc.subject | time delay | en_US |
dc.subject | H-infinity optimization | en_US |
dc.subject | stability limits | en_US |
dc.subject | PD control | en_US |
dc.subject.lcc | QA76.9.H85 K67 2012 | en_US |
dc.subject.lcsh | Haptic devices. | en_US |
dc.subject.lcsh | Human-computer interaction. | en_US |
dc.subject.lcsh | Control theory. | en_US |
dc.title | Controller design for haptic systems under delayed position and velocity feedback | en_US |
dc.type | Thesis | en_US |
thesis.degree.discipline | Electrical and Electronic Engineering | |
thesis.degree.grantor | Bilkent University | |
thesis.degree.level | Master's | |
thesis.degree.name | MS (Master of Science) |
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