Analysis and design of multi-contact haptic systems: An LMI approach

Author

Bianchini, Gianni ; Orlandesi, Marcello ; Prattichizzo, Domenico

Author_Institution

Univ. di Siena, Siena

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

5761

Lastpage

5766

Abstract

This paper provides a convenient framework based on passivity and linear matrix inequalities for stability analysis and virtual coupling design for multi-contact haptic systems. The proposed approach exploits peculiar features of the multi-contact scenario and allows for taking into account structural constraints such as operator location, decentralization or limited communication. A method for the design and implementation of structured virtual couplings whose impact on the realism of interaction can be qualitatively tuned, is proposed.

Keywords

control system analysis computing; haptic interfaces; linear matrix inequalities; stability; virtual reality; LMI approach; linear matrix inequality; multicontact haptic systems; passivity; stability analysis; structural constraints; virtual coupling design; Context modeling; Control systems; Design methodology; Haptic interfaces; Humans; Interconnected systems; Linear matrix inequalities; Power system modeling; Stability analysis; Virtual environment; Haptics; LMI; Multi-contact; Passivity; Virtual coupling design;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434863

Filename

4434863