Optimizing low-order controllers for haptic systems under delayed feedback

Bogdan Liacu 1 A. Taha Koru 2 Silviu-Iulian Niculescu 3, 4 E. Ozbay 5
1 AUTO - Département Automatique
L2S - Laboratoire des signaux et systèmes, E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
4 Division Systemes
L2S - Laboratoire des signaux et systèmes
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.
Type de document :
Article dans une revue
Control Engineering Practice, Elsevier, 2013, 21 (5), pp.655-668. 〈10.1016/j.conengprac.2013.01.001〉
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https://hal-supelec.archives-ouvertes.fr/hal-00935444
Contributeur : Myriam Baverel <>
Soumis le : jeudi 23 janvier 2014 - 15:15:14
Dernière modification le : jeudi 11 janvier 2018 - 06:27:10

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Bogdan Liacu, A. Taha Koru, Silviu-Iulian Niculescu, E. Ozbay. 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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