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 inthe master and slave sides. The slave controller is responsible for tracking the master commands, and the master controller isin 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 ondesigning master controller. By using a proper reduced order slave controller, it makes a much easier μ-synthesis problem forthe master side. That’s why D-K iteration method, as the most common technique for solving μ-synthesis problem, convergesto better solutions. The reduced order controllers in master and slave are applied in the teleoperation system. Robust stability and performance against uncertainties in teleoperation systemare investigated through μ plots and verify effectiveness of the proposed controllers.

Keywords:

μ-Synthesis , Bilateral Teleportation System , D-K iteration method