Some remarks on the fragility of Smith predictors used in haptics.

Bogdan Liacu (1) , Irinel-Constantin Morarescu (2) , Claude Andriot (3) , Silviu-Iulian Niculescu (4, 5) , Didier Dumur (1) , Patrick Boucher (1) , Frédéric Colledani (3)

1 E3S - Supélec Sciences des Systèmes
2 CRAN - Centre de Recherche en Automatique de Nancy
3 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies
4 L2S - Laboratoire des signaux et systèmes
5 DISCO - Dynamical Interconnected Systems in COmplex Environments

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.

Mots clés: haptics; Smith predictor; delay

Domaines: Automatique

Bogdan Liacu, Irinel-Constantin Morarescu, Claude Andriot, Silviu-Iulian Niculescu, Didier Dumur, et al.. Some remarks on the fragility of Smith predictors used in haptics.. 11th International Conference on Control, Automation and Systems, ICCAS 2011, Oct 2011, Gyeonggi-do, South Korea. pp.CDROM. ⟨hal-00638007⟩