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

— This paper introduces 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 exploits peculiar features of the multi-dimensional scenario and allows for taking into account structural constraints such as different operator-device configurations and decentralized controller implementation. The main contribution of the paper is to provide a parameterization of a class of stabilizing structured controllers that can be characterized in terms of the solution of suitable LMI problems.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Gianni Bianchini, Marcello Orlandesi, Domenico Prattichizzo
• Keywords: Account Structural Constraints, CDC 2008, Control Systems, Exploits Peculiar Features, Linear Matrix Inequalities