Bilateral controller for teleoperators with time delay via μ-synthesis

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the ℋ_∞-optimal control and μ-synthesis frameworks is introduced to design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included