Optimal Control of a Teleoperation System via LMIbased Robust PID Controllers

Abstract—Since the performance of the teleoperation systems can be considerably degraded by time-delay of communication channels and uncertainty in various parts of such systems, the main objectives of the controller design in loads of different structures of the bilateral teleoperation system are to preserve stability and tracking performance of these systems in spite of aforementioned sources of uncertainty. In this paper, a new robust PID controller will be designed based on H control theory by using the Linear Matrix Inequality (LMI) approach. Therefore, the problem of a Robust PID controller design can be regarded as a special case of the output-feedback controller via employing some sorts of changes in control and system parameters. To show the effectiveness of the proposed controller, the robust PID controller is compared with the multiobjective H 2 /H one. The main feature of the suggested structure is its ability to control the teleoperation system via using the simplest structure in which two signals will be transmitted to control the teleoperation system. In addition, use of PID controller has more practical applications in industrial units, due to its simplicity in implementation and capability to predict the time responses caused by changes in control parameters. Index Terms — Teleoperation systems, Robust LMI based PI