Robust Hinf control of bilateral teleoperation systems under communication time-delay
Résumé
An Hinf approach to robust control of bilateral teleoperation systems under communication time-delay is considered. Delay-independent stability conditions are firstly provided. Then, the problem of controller design that robustly stabilizes the system independently of time-delay w.r.t environment uncertainties is formulated as an Hinf problem. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided for which the system stability is guaranteed. Simulation results point out the interest of the proposed methodology.