Delay-Dependent Stability Analysis of Haptic Systems via an Auxiliary Function-Based Integral Inequality

In this paper, the delay-dependent stability of haptic systems is studied by developing a new criterion. Firstly, system inevitably introduces time delays using communication networks to transmit information between controller and device. When discussing near its operating point, original nonlinear modeled as linear with delay mentioned above. addition, suitable augmented Lyapunov–Krasovskii functional (LKF) more integral forms constructed an auxiliary function-based inequality applied estimate derivative proposed LKF. Then, less conservative criterion in terms matrix (LMI) derived calculate margin for system. Finally, case studies are carried out based on one degree freedom The results show that, compared criteria existing works, can obtain accurate require calculation complexity, and, increase virtual damping certain range, stable upper bound increases at first then decreases.