Robust Hinfinity control of a Bilateral Teleoperation System under Communication Time-Delay
Abstract
An Hinfinity approach to robust control of bilateralteleoperation systems under communication time-delay isconsidered. First stability conditions in both cases of constantand time-varying delays are given. Then, the problem of controllerdesign that robustly stabilizes the system w.r.t environmentuncertainties (and for any delay) is formulated as an Hinfinity problem. When delay independent stability cannot be achieved, away to determine the maximal allowed time-delay is provided.Simulation results point out the interest of the proposedmethodology.
