Bilateral controller for teleoperators with time delay via μ-synthesis

1 February 1995

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation

Vol. 11 (1) , 105-116
https://doi.org/10.1109/70.345941

Abstract

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the /spl Hscr//sub /spl infin//-optimal control and /spl mu/-synthesis frameworks is introduced to design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included.

Keywords

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