Robust Stability Analysis Based on LMI for Haptic Interface Systems with Uncertain Delay. (26th August 2018)

• Record Type: Journal Article
• Authors: Liu, Yanwen; Meng, Fanwei; Guan, Bowen; Zhang, Shuhao
• Other Names: Hu Liang Academic Editor.
• Is Part Of: Complexity. Volume 2018(2018)
• Publication Date: 2018-08-26
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2018/9342479
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : This paper presents the robust stability analysis based on LMI for force feedback haptic interface systems with uncertain delay. A full-order state observer is introduced to estimate states of the haptic device so as to directly obtain the feedback force, which expands the stability range of the system environment parameters when comparing with that of the system without an observer. By using the delay partitioning idea and the augmented state vector, the Lyapunov-Krasovskii functional is constructed, and then the new stability criterion based on LMI is given in the paper. With this new stability criterion, the observer gains can also be obtained directly. At last, a concrete example is used to prove the effectiveness and less conservativeness of this new approach.