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An LMI framework for analysis and design of multi-dimensional haptic systems

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3 Author(s)

This paper presents a convenient framework based on passivity and linear matrix inequalities (LMIs) for stability analysis and controller design for haptic systems involving multiple devices and human operators interacting with a common virtual environment. The proposed approach addresses peculiar features of the multi-dimensional scenario such as different operator-device configurations, and allows for taking into account structural constraints such as decentralized controller implementation. An LMI-based stability condition is given and a a class of stabilizing structured controllers that can be parameterized in terms of the solution of suitable LMI problems is introduced.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008