Loop Shaping Robust Control for Scaled Teleoperation System

This paper presents a force-reflecting macro-micro teleoperator operating in a remote micro environment. Due to the transmission time delay, it is very difficult to ensure the stability. Then, in order to manipulate micro-object it is inevitable to consider the scaling effect problem between worlds with different physical characteristics, with minimal loss of physical information and robustness against variation of scaling gains. Accordingly, in this paper, the controllers are designed based on the framework H∞Loop Shaping procedure approach. This approach allows a convenient means to trade-off the robustness for a pre-specified time-delay margin, variation of force scaling factors and uncertainties in environment modeling. The validity of the proposed method is demonstrated by simulations.