Optimizing low-order controllers for haptic systems under delayed feedback

doi:10.1016/j.conengprac.2013.01.001

Optimizing low-order controllers for haptic systems under delayed feedback

2013-05-01

10

PRE

AI

Silviu‐Iulian Niculescu *

C

Claude Andriot

DOI：10.1016/j.conengprac.2013.01.001

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Abstract

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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-infinity 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. (C) 2013 Elsevier Ltd. All rights reserved.

Keywords:

Haptics

Teleoperation

Time-delay

H-infinity optimization

Stability limits

PID control

Optimizing low-order controllers for haptic systems under delayed feedback

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