Teleoperation controller design using H∞-optimization with application to motion-scaling

The design of a bilateral teleoperation controller is a nontrivial problem. The goal is to achieve a stable system with optimal performance in the possible presence of time delays, disturbances, uncertainties and/or measurement noise. In this paper, a general design strategy based on H_∞ theory is presented. This approach allows a convenient means to trade off the optimization of various performance criteria and system robustness. The control approach is applied to a motion-scaling teleoperation system and simulations and experiments with the resulting controllers demonstrate that the strategy is effective