Bilateral controller for teleoperators with time delay via μ-synthesis

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the /spl Hscr//sub /spl infin//-optimal control and /spl mu/-synthesis frameworks is introduced to design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>