Optimizing low-order controllers for haptic systems under delayed feedback

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buir.contributor.authorÖzbay, Hitay
dc.citation.epage668en_US
dc.citation.issueNumber5en_US
dc.citation.spage655en_US
dc.citation.volumeNumber21en_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.date.accessioned2015-07-28T12:03:50Z
dc.date.available2015-07-28T12:03:50Z
dc.date.issued2013-05en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractIn this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H∞ and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results.en_US
dc.description.provenanceMade available in DSpace on 2015-07-28T12:03:50Z (GMT). No. of bitstreams: 1 10.1016-j.conengprac.2013.01.001.pdf: 2731343 bytes, checksum: cdb2ef5da52a9133fb18fb909bf8e234 (MD5)en
dc.identifier.doi10.1016/j.conengprac.2013.01.001en_US
dc.identifier.issn0967-0661
dc.identifier.urihttp://hdl.handle.net/11693/12913
dc.language.isoEnglishen_US
dc.publisherElsevieren_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/j.conengprac.2013.01.001en_US
dc.source.titleControl Engineering Practiceen_US
dc.subjectH-infinity Optimizationen_US
dc.subjectHapticsen_US
dc.subjectPid Controlen_US
dc.subjectStability Limitsen_US
dc.subjectTeleoperationen_US
dc.subjectTime-delayen_US
dc.titleOptimizing low-order controllers for haptic systems under delayed feedbacken_US
dc.typeArticleen_US

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