Modeling and H∞ control of wireless network-based bilateral teleoperation

The modeling and stabilization problem is investigated for 802.11 wireless bilateral teleoperation systems. Firstly, a new model is constructed by integrating 802.11 protocol into the bilateral teleoperation. The possible asymmetric delays and data package dropout are incorporated in the model. The H_∞ control problem is further considered for the error system between the master and the slave. The linear feedback controller is designed such that the error system achieves the H_∞ performance index. The control design conditions are given in the form of the LMI inequality, which can be easily solved by Matlab. Finally, the simulations are performed to show the effectiveness of the proposed method.