Low-Order Controller Design for Haptic Systems under Delayed Feedback

In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results.