An LMI based delay-dependent robust controller for transparent bilateral teleoperation system

Abstract

This paper proposes a Linear Matrix Inequality (LMI) approach by designing a robust controller for bilateral teleoperation systems in the presence of uncertainties due to the time delay in communication channel and slave site parameters, which called model mismatch. The time delays in communication channels are assumed to be unknown and asymmetric, but the upper bound of the delays is assumed to be known. Moreover, in order to provide a realistic case, an external signal as a sensor noise of force measurement is considered. In the proposed approach, two local controllers are designed: one for the master site and the other one for the slave site. The local slave controller guarantees the motion tracking whereas the local master controller guarantees force tracking and stability of the closed-loop system. The effectiveness of the suggested control design will be shown by simulation results.