Control design of client using mixed sensitivity problem for multilateral teleoperation system

This paper considers a control design of client side using mixed sensitivity problem for multilateral teleoperation system. For multilateral teleoperation system, only the client side is considered. The 1-DOF (degree of freedom) paddle system as a client side is used. The paddle system is modeled as linear system, the mixed sensitivity problem is applied. The weighting functions are designed to satisfy the control specification. The stability and control performance are verified by simulations and experiments. It can be shown that the position error between client side and teleoperator converges to zero, the teleoperation system is stable for time delays.