Design of a robust bilateral controller for teleoperators with modeling uncertainties

摘要

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators can be generally modeled as a linear transfer function inherently including modeling uncertainties. Modeling uncertainties can make the system unstable and its performance poor. Thus we present a design framework for a bilateral controller of the teleoperator that achieves stability and performance in the presence of modeling uncertainties using /spl mu/-synthesis. Simulation and experiments are conducted to confirm the validity of the proposed method.