Low-order controller design for haptic systems under delayed feedback
Date
2012
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Source Title
International Federation of Automatic Control
IFAC Proceedings Volumes
Print ISSN
1474-6670
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Volume
10
Issue
14
Pages
43 - 48
Language
English
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Abstract
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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Keywords
H-infinity optimization , PID control , Stability limits , Teleoperation , Time delay , Complete stability , Controller gain , Delayed feedback , Experimental platform , H-infinity , Haptic systems , Local dynamics , Low-order controller design , Mechanical dynamics , Optimal choice , Optimization techniques , PD controllers , Second orders , Stability limit , Stability margins , Theoretical result , Three degree of freedoms , Dynamics , Optimization , Remote control , Three term control systems , Time delay