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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/sub /spl infin// 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.
Yan et al. (Wed,) studied this question.