Bilateral controller for teleoperators with time delay via /spl mu/-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.<
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