$H_{\infty}$ Robust Control Design for Teleoperation Systems

Bo Zhang 1 Alexandre Kruszewski 1 Jean-Pierre Richard 1, 2, 3
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper deals with the problem of delay-dependent robust $H_{\infty}$ control for time-varying delay teleoperation system with norm-bounded and time-varying model uncertainties. Thanks to our proposed control scheme, Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ theory, the delay-dependent stability and tracking performance analysis are proposed in terms of Linear Matrix Inequality (LMI) optimization. An illustrative example is given by various simulations to prove that, our proposed solution is efficient to handle time-varying delays and uncertainties under different working conditions, such as abrupt tracking and wall contact motion.
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Submitted on : Tuesday, March 27, 2012 - 3:01:48 PM
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Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. $H_{\infty}$ Robust Control Design for Teleoperation Systems. 7th IFAC Symposium on Robust Control Design, Jun 2012, Aalborg, Denmark. ⟨hal-00682948⟩

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