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Smith predictor-based control with distance feedback for haptic systems under distributed time-delays. (English) Zbl 1328.93129

Seuret, Alexandre (ed.) et al., Low-complexity controllers for time-delay systems. Cham: Springer (ISBN 978-3-319-05575-6/hbk; 978-3-319-05576-3/ebook). Advances in Delays and Dynamics 2, 219-235 (2014).
Summary: This chapter proposes a Smith predictor-based control with distance feedback until a possible collision for network based haptic systems. The main idea is to use a predictor just on the haptic side in order to compensate the viscosity effect and to provide an accurate feeling in case of contacts. The critical problem is that in haptics there are two situations: free and restricted motion, which implies a model changing on the predictor side. For solving this problem, a new approach is presented by using the available information on the distance from the virtual reality simulator and introducing it in the predictor in order to maintain the similitude between the real and the predicted model. The three most common delay distributions (uniform, gamma with gap and normal) are analyzed from the stability point of view and are tested on a 3-dof real-time experimental platform.
For the entire collection see [Zbl 1300.93008].

MSC:

93C15 Control/observation systems governed by ordinary differential equations
93C85 Automated systems (robots, etc.) in control theory
93B51 Design techniques (robust design, computer-aided design, etc.)
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