Robust stability analysis and H∞ controller design of teleoperation system with time varying communication delay

Abstract

This paper give a novel linear matrix inequalities (LMI) approach to robust H∞ controller design of a bilateral teleoperation system. The errors feedback of the position and velocity control scheme are considered for the master and the slave manipulators. The system is modelled as differential equations with communication time-delay. An improved delay dependent stability criterion is derived by constructing a new augmented Lyapunov-Krasovskii (L-K) functional. We prove that the teleoperation system is stable and has good performance under specific LMIs conditions.