Control strategies for a haptic device interfacing with virtual environment

This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.