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Control of Haptic Systems with Time-varying Delay: a Novel Approach

Abstract : This paper addresses the stable implementation of high stiffness interactions of objects in the virtual environment. The virtual wall is modeled as a mechanical system including a linear spring characterized by a virtual stiffness and a damper with a virtual damping in parallel. A novel approach for improving the stability of discrete-time haptic systems in the case of time-varying delay is proposed by using an augmented state observer instead of the traditional backward finite differentiator. Based on Lyapunov's stability theory, the delay-dependent asymptotic stability condition expressed in terms of LMI for choosing the virtual-wall parameters is presented. The numerical simulation results in the case of the PHANTOM 1.0 haptic devices are included in order to prove the effectiveness of the proposed method.
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Contributor : Aurélien Vicentini Connect in order to contact the contributor
Submitted on : Monday, December 6, 2021 - 3:27:39 PM
Last modification on : Wednesday, March 16, 2022 - 4:42:01 PM

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Quoc Viet Dang, Laurent Vermeiren, Antoine Dequidt, Michel Dambrine. Control of Haptic Systems with Time-varying Delay: a Novel Approach. IFAC Joint conference SSSC, TDS, FDA, Feb 2013, Grenoble, France. pp.445-450, ⟨10.3182/20130204-3-FR-4031.00136⟩. ⟨hal-03467517⟩



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