Design of the robust bilateral controller for teleoperators with modeling uncertainties

모델링 불확실성이 존재하는 원격조작기에서 강인 안정을 보장하는 양방향 제어기 설계

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators generally can be modeled as linear transfer function indecently including modeling uncertainty. Modeling uncertainties can make the system unstable and its performance poor. Thus I'm studying about a design framework for a bilateral controller of teleoperator systems with modeling uncertainties. In this paper, a method based on the H$_{\infty}$-optimal control and .mu.-synthesis frameworks are introduced to design a controller for the teleoperator that achieves stability and performance in the presence of the modeling uncertainties..ties.inties.