Optimizing low-order controllers for haptic systems under delayed feedback

作者：Liacu Bogdan; Koru Ahmet Taha; Ozbay Hitay; Niculescu Silviu Iulian^*; Andriot Claude

来源：Control Engineering Practice, 2013, 21(5): 655-668.

DOI：10.1016/j.conengprac.2013.01.001

• Haptics
• Teleoperation
• Time-delay
• H-infinity optimization
• Stability limits
• PID control

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.

• 出版日期2013-5
• 单位中国地震局