Robust H8 Controller Design for a Bilateral Teleoperation System via LMIs

This paper presents a new linear matrix inequality (LMI) approach to design an H_infin , controller for a bilateral teleoperation system. Time delay, due to communication media, is assumed to be unknown, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known. An impedance controller is designed for the master robot and an open-loop controller is designed for the slave side. In order to have disturbance rejection, an optimal disturbance rejection technique is utilized in the slave side. Then, to design the slave side controller, the control system is reformulated such that the slave side controller is converted to an equivalent dynamic output feedback controller in a standard control system representation. The main results provide sufficient delay-dependent conditions for the stability analysis and control problem.