Hα control of a Teleoperation Drive-by-Wire System with Communication Time-Delay

An H_alpha approach to robust control of bilateral teleoperation systems under communication time-delay is considered and applied on an experimental setup. Using a small gain approach an H_alpha controller is first designed in the nominal case and a robust design is then proposed for any communication delay in the case of environment uncertainties. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided. Simulation and experimental results are provided.