Design of a robust bilateral controller for teleoperators withmodeling uncertainties

摘要

Teleoperation is the extension of a person's sensing andmanipulation capability to a remote location. Teleoperators can begenerally modeled as a linear transfer function inherently includingmodeling uncertainties. Modeling uncertainties can make the systemunstable and its performance poor. Thus we present a design frameworkfor a bilateral controller of the teleoperator that achieves stabilityand performance in the presence of modeling uncertainties usingμ-synthesis. Simulation and experiments are conducted to confirm thevalidity of the proposed method