Polytopic representation of impedance model with feedback delay

Authors:
Péter Galambos;Péter Baranyi;Péter Korondi
Affiliations:
Computer and Automation Research Institute, Hungarian Academy of Sciences, Cognitive Informatics Group and Budapest University of Technology and Economics, Dept. of Manufacturing Science and Techn ...;Computer and Automation Research Institute, Hungarian Academy of Sciences, Cognitive Informatics Group and Budapest University of Technology and Economics, Dept. of Telecommunications and Media In ...;Computer and Automation Research Institute, Hungarian Academy of Sciences, Cognitive Informatics Group and Budapest University of Technology and Economics, Dept. of Mechatronics, Optics and Engine ...
Venue:
ACMOS'10 Proceedings of the 12th WSEAS international conference on Automatic control, modelling & simulation
Year:
2010

Citing 5
Cited 0

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Abstract

In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, the design of a stabilizing controller become easier as it does not contain feedback delay. As example, a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by numerical simulation.