Robust H∞ control of an uncertain bilateral teleoperation system using dilated LMIs

Bilal Gormus, Hakan Yazici*, Ibrahim B. Kucukdemiral

*Corresponding author for this work

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A robust state-feedback H controller is proposed for an uncertain bilateral teleoperation system having norm-bounded parametric uncertainties on mass and damping coefficients of the considered master/slave system. The proposed method ensures robust stability and successful reference tracking and force reflection performance. While the Lyapunov stability is used to ensures asymptotic stability, the H -norm from exogenous input to the controlled output is utilized in satisfying the reference tracking and force reflection. As two performance objectives and robust stability requirement are conflicting with each other, the proposed controller reduces the associated conservatism with dilated linear matrix inequalities (LMIs). Standard and dilated LMI based robust H∞ state-feedback controllers are performed with a one-degree-of-freedom uncertain master/slave system under reference signal and environmental-induced exogenous force. Numerical simulation results show that the dilated LMI based H -control satisfies lower H -norm than a standard H -control. Moreover, the proposed controller demonstrates a very successful performance in achieving performance objectives despite the stringent norm bounded parameter uncertainties.
Original languageEnglish
JournalTransactions of the Institute of Measurement and Control
Early online date20 Oct 2021
Publication statusE-pub ahead of print - 20 Oct 2021


  • dilated linear matrix inequalities, robust H∞ controller, norm-bounded uncertainties, bilateral teleoperation system


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