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Conference Papers Year : 2013

Control of Haptic Systems with Time-varying Delay


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.

Dates and versions

hal-03467517 , version 1 (06-12-2021)



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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