Robust Controller for Teleoperation of robotic manipulator

This paper presents a linear matrix inequality approach to robust controller design for a bilateral tele-operation system with time delay in the communication channel and mass and damper uncertainties. The delay is supposed to be unknown and randomly time varying, but the upper bounds and the derivative of the delay are assumed to be known. In this approach the state-feedback controllers are designed for both the master and the slave systems. By defining a Lyapunov function and solving linear matrix inequality, the state-feedback control law can be found to provide the robust stability of system in presence of time varying delay that occurs in the network and position tracking. Numerical simulation results show that designed controllers can stabilize bilateral tele-operation system under time-varying delays.