On the decentralized H2 optimal control of bilateral teleoperation systems with time delays

Decentralized control of bilateral teleoperation systems with time delays is considered within the H
²
optimization framework. We demonstrate that the problem is quadratically invariant and can be split into two independent model matching optimizations with partial multiplicative delay. The recent loop shifting techniques for delayed systems control are used then to find a complete analytical solution. Explicit state-space formulae for the optimal controller are derived in terms of standard Riccati equations associated with the centralized delay-free problem. It is shown that the resulting optimal controller admits an elegant and easy to implement structure.