Bilateral Controller for Teleoperators with Time Delay via µ-Synthesis

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well-known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the H1 -optimal control and µ-synthesis frameworks is introduced to design a controller for the teleoperator which achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included