H∞ robust controller design and experimental study for teleoperation system

In this paper, for the problem of uncertainty and external disturbances existing in the teleoperation system, we turn the disturbances problem into the robust control problem by selecting the appropriate weighting function. Then we propose master-slave manipulator robust controller design method and develop a novel experimental system. The experimental results show that the designed controller has good robust stability and tracking performance in the case of disturbances.