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Bilateral controller for teleoperators with time delay via μ-synthesis

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3 Author(s)
Leung, G.M.H. ; Allied-Signal Aerosp. Canada, Etobicoke, Ont., Canada ; Francis, B.A. ; Apkarian, J.

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 ℋ-optimal control and μ-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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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 1 )