Robust bilateral control for state convergence in uncertain teleoperation systems with time-varying delay: a guaranteed cost control design

This paper introduces a linear matrix inequality (LMI) approach-based guaranteed cost control for the bilateral teleoperation systems. The main contribution is to take into account the most important constraints in such systems including time-varying delay and model uncertainty to guarantee robust stability and performance. Firstly, we develop a control framework for bilateral teleoperation systems based on the state convergence. Sufficient conditions in terms of LMIs are then provided to achieve the system’s robustness and transparency indices. Finally, simulation results are given to validate the effectiveness of the proposed control strategy.