Abstract
In this study, the design of bilateral controller for the master-slave system is discussed on the basis of the H∞-optimal control framework. In this paper, a divided design procedure is adopted, the several controllers that achieve given performance specifications are designed in order. The performance variables and the frequency weighting functions are chosen properly, each controller is derived by solving LMI problem. Furthermore, a specified controller is redesigned to compensate instability caused by a time delay exists in the communication channel between the master and the slave. Since it can be considered that the time delay reflects as a perturbation to the system, the compensation of time delay results in the robust stability problem of the system with the perturbation. In order to keep the maneuverability, the impedance parameters are adjusted, such as the apparent decrease of perturbation. The validity of the proposed method is confirmed in control experiments using a direct-drive master-slave system.
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