• DocumentCode
    3644886
  • Title

    Some remarks on the fragility of Smith predictors used in haptics

  • Author

    Bogdan Liacu;Irinel-Constantin Morărescu;Claude Andriot;Silviu-Iulian Niculescu;Didier Dumur;Patrick Boucher;Frédéric Colledani

  • Author_Institution
    Laboratoire des Signaux et Systè
  • fYear
    2011
  • Firstpage
    1851
  • Lastpage
    1856
  • Abstract
    In this paper, we propose a method to study the fragility of Smith predictor-based controllers used in haptics. Using a geometric approach, we derive a simple approach to examine the fragility of Smith predictors for two cases - constant and uncertain delays. Illustrative examples complete the presentation.
  • Keywords
    "Haptic interfaces","Delay","Stability analysis","Equations","Mathematical model","PD control","Virtual environments"
  • Publisher
    ieee
  • Conference_Titel
    Control, Automation and Systems (ICCAS), 2011 11th International Conference on
  • ISSN
    2093-7121
  • Print_ISBN
    978-1-4577-0835-0
  • Type

    conf

  • Filename
    6106179
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3644886