NDLI: PD control with gain-scheduling depending on the distance for a 3-dof network based haptic system

Content Provider	IEEE Xplore Digital Library
Author	Liacu, B. Andriot, C. Dumur, D. Niculescu, S. Colledani, F. Boucher, P.
Copyright Year	2012
Description	Author affiliation: SUPELEC, 3 rue Joliot Curie, 91192 Gif sur Yvette Cedex, and CEA LIST, Interactive Robotics Laboratory, Fontenay-aux-Roses, F-92265 France (Liacu, B.) \|\| CEA, LIST, Interactive Robotics Laboratory, Fontenay aux Roses, F-92265, France (Andriot, C.; Colledani, F.) \|\| SUPELEC E3S, Control Department, 3 rue Joliot Curie, 91192 Gif sur Yvette Cedex, France (Dumur, D.; Boucher, P.) \|\| Laboratoire des Signaux et Systèmes (LSS), CNRS-SUPELEC, 3 rue Joliot Curie, 91192 Gif-sur-Yvette Cedex, France (Niculescu, S.)
Abstract	This paper presents a Proportional Derivative (PD) controller with gain-scheduling depending on the distance for haptic interfaces and virtual environments subject to communication delays. It is well known that the presence of delays deteriorates the overall system performance. More precisely, depending on the proposed architecture as, for example, bilateral position-position coupling, time-delays introduce a feeling of viscosity in free motion and reduce the sense of stiffness in the case of hard contacts. Even in the presence of time-delays, the controller gains can be tuned in order to guarantee the desired behavior and performances for one case (free or restricted motion) with the price of the completely loss of the other case performances and behavior. To overcome this drawback, a gain-scheduling controller is designed, able to guarantee the desired behavior and performances for free and restricted motion. The experimental results obtained on a three-degree of freedom real-time experimental platform enforce the theoretical developments.
Starting Page	1297
Ending Page	1303
File Size	1821875
Page Count	7
File Format	PDF
ISBN	9781467345033
ISSN	10851992
e-ISBN	9781467345057
e-ISBN	9781467345040
DOI	10.1109/CCA.2012.6402393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-03
Publisher Place	Croatia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Switches Stability analysis PD control Virtual environments Delay Viscosity
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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