Control design-oriented qLPV modelling of virtual impedance-based telemanipulation

The paper proposes a quasi-Linear Parameter Varying (qLPV) model for the impedance model-based telemanipulation architecture with time-delay that relies only on measurable state variables and controllable considering practical design purposes. This representation allows to formalize control design criteria to handle properly the predictive and robustness aspects as well. The correctness of the derived model in terms of approximation accuracy is proved via numerical simulations.