H<inf>∞</inf> based state feedback robust controller for nonlinear tele-operation system with variable time-delays

摘要

This paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) control scheme is used to couple the master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> design method is used to develop delay-dependent stability conditions that are robust to the variations of the exogenous inputs from the operator and environment in the form of Linear Matrix Inequality (LMI). The stability conditions are solved using Matlab LMI toolbox to obtain the values of the control parameters and the upper bounds of the variable time-delays in the forward and backward communication channels. The designed controller efficiency is demonstrated using simulations.