Robust State Feedback H-Infinity Controller Design for Bilateral Teleoperation System Having Saturated Actuators

This paper considers a robust state-feedback H-infinity controller design for uncertain bilateral teleoperation system having norm bounded parametric uncertainties and saturated actuators. The proposed method utilizes nested attractive ellipsoids and employs linear matrix inequalities (LMIs) to obtain sufficient robust stability and H-infinity performance constraints under consideration of actuator saturation. The effectiveness of the proposed controller is illustrated through numerical simulations of responses a one-degree-of-freedom bilateral teleoperation system under exogenous input. Numerical simulation results show that in spite of the saturated actuators, the proposed LMIs based robust controller is very effective in reference tracking performance.