Optimizing low-order controllers for haptic systems under delayed feedback

Abstract : In 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.
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https://hal-supelec.archives-ouvertes.fr/hal-00935444
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Submitted on : Thursday, January 23, 2014 - 3:15:14 PM
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Bogdan Liacu, A. Taha Koru, Silviu-Iulian Niculescu, E. Ozbay, Claude Andriot. Optimizing low-order controllers for haptic systems under delayed feedback. Control Engineering Practice, Elsevier, 2013, 21 (5), pp.655-668. ⟨10.1016/j.conengprac.2013.01.001⟩. ⟨hal-00935444⟩

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