Optimizing low-order controllers for haptic systems under delayed feedback
نویسندگان
چکیده
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 (H1 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. & 2013 Elsevier Ltd. All rights reserved.
منابع مشابه
Stabilization of chaotic systems via fuzzy time-delayed controller approac
In this paper, we investigate the stabilization of unstable periodic orbits of continuous time chaotic systems usingfuzzy time-delayed controllers. For this aim, we present a control method that can achieve stabilization of an unstableperiodic orbit (UPO) without any knowledge of the system model. Our proposal is attained progressively. First, wecombine the input-to-state linearizing controller...
متن کاملA Model-Based Controller for Interactive Delayed Haptic Feedback Virtual Environments
Abstract. This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior’s knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this rese...
متن کاملStable Shared Virtual Environment Haptic Interaction under Time-varying Delay
This paper addresses the stability of time-delayed force-reflecting displays used in human-in-the-loop virtual reality interactive systems. A novel predictive haptic-device model-based approach is proposed. The developed solution is stable and robust, and does not require either the estimation of time delay or any knowledge on its behavior. It applies without any adaptations to constant or caus...
متن کاملA Robustness Analysis of Master-Model Based controller for stabilizing delayed haptic interaction: An LMI Approach
This paper extends previous results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. The proposed method evolved from our previous earlier work where we apply Smith prediction principle on delayed haptic feedback interaction. We will show that the proposed approach is easy to implement and it is original since it investigates another way to for...
متن کاملImproving the performance of wind turbine equipped with DFIG using STATCOM based on input-output feedback linearization controller
Using the FACTS controllers, such as static synchronous compensator (STATCOM), as it provides continuous reactive power, in the grid including wind turbine (WT) equipped with doubly fed induction generator, for improving voltage profile (under normal circumstances) and providing a transition ability from inductor generator transition state has been proposed. In this paper, in order to contr...
متن کامل