μ-synthesis for teleportation system in presence of uncertainties in time delay and task environment

In this paper, designing μ-synthesis controllers for a bilateral teleoperation system, based on a simple structure is studied. In this structure, two local controllers are designed in the master and slave sides. The slave controller is responsible for tracking the master commands, and the master controller is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in presence of uncertainties. The slave controller as a part of closed-loop system directly affect on designing master controller. By using a proper reduced order slave controller, it makes a much easier μ-synthesis problem for the master side. That´s why D-K iteration method, as the most common technique for solving μ-synthesis problem, converges to better solutions. The reduced order controllers in master and slave are applied in the teleoperation system. Robust stability and performance against uncertainties in teleoperation system are investigated through μ plots and verify effectiveness of the proposed controllers.