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.

Bianchini, G., M., O., Prattichizzo, D. (2008). An LMI framework for analysis and design of multi-dimensional haptic systems. In 2008 47th IEEE Conference on Decision and Control (pp.4564-4569). New York : IEEE [10.1109/CDC.2008.4739340].

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

BIANCHINI, GIANNI;PRATTICHIZZO, DOMENICO
2008-01-01

Abstract

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.
978-142443124-3
Bianchini, G., M., O., Prattichizzo, D. (2008). An LMI framework for analysis and design of multi-dimensional haptic systems. In 2008 47th IEEE Conference on Decision and Control (pp.4564-4569). New York : IEEE [10.1109/CDC.2008.4739340].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/23480