Robust Controller Design for Teleoperation Systems with Time-Varying Delays

This paper presents an LMI approach to design a robust controller for teleoperation systems with unsymmetric time-varying delays. The position error feedback control scheme is considered for the master and slave manipulators. The overall systems is modelled as differential equations with multiple time delays. By using Lyapunov functional, we give the sufficient stability condition dependent on the derivative of the time-varying delays in terms of LMI. Moreover, the controller gain design procedure is derived based on the Projection Theorem. A simulation example is given to show the proposed results.