BILATERAL CONTROLLER FOR TELEOPERATORS WITH TIME-DELAY VIA MU-SYNTHESIS

In the standard teleoperator system, force and velocity signals are co mmunicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exist s in the communication channel. In this paper, a method based on the H (infinity)-optimal control and mu-synthesis frameworks is introduced t o design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifi cations. A numerical design example is included.