Some remarks on the fragility of Smith predictors used in haptics.
Résumé
In this paper we propose a method to study the fragility of Smith predictor controllers used in haptics. In order to develop controllers for real environments, a careful analysis must be taken into account for the variation of the parameters. Generally, real systems present parameter variations which often lead the system to an unstable behaviour. Using a geometric approach, we derive a simple method to study the fragility of Smith predictors for two cases - constant and uncertain delays. Illustrative examples complete the presentation.
Domaines
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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