$H_{\infty}$ Control of Delayed Teleoperation Systems under Polytopic-Type Uncertainties

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 : In this paper, the $H_{\infty}$ control design under time-varying delays and polytopic-type uncertainties, which ensures the stability and performance (synchronization/transparency) between the master and slave manipulators, is proposed. With this objective, the design of the controller based on our proposed control scheme is performed by using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ control theory. The solution is efficient for different working conditions, \emph{e.g.} abrupt tracking and wall contact motion, and this is illustrated by a final example.
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Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. $H_{\infty}$ Control of Delayed Teleoperation Systems under Polytopic-Type Uncertainties. 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelone, Spain. ⟨hal-00684710⟩

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