ROBUST H∞ CONTROL OF A BILATERAL TELEOPERATION SYSTEM UNDER COMMUNICATION TIME-DELAY

Abstract An H ∞ approach to robust control of bilateral teleoperation systems under communication time-delay is considered. First stability conditions in both cases of constant and time-varying delays are given. Then, the problem of controller design that robustly stabilizes the system w.r.t environment uncertainties (and for any delay) is formulated as an H ∞ problem. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided. Simulation results point out the interest of the proposed methodology.

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