Gmh. Leung et al., BILATERAL CONTROLLER FOR TELEOPERATORS WITH TIME-DELAY VIA MU-SYNTHESIS, IEEE transactions on robotics and automation, 11(1), 1995, pp. 105-116
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.