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

Bilal Gormus, Hakan Yazici*, Ibrahim B. Kucukdemiral

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)
115 Downloads (Pure)


A robust state-feedback H∞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 Lyapunov stability is used to ensures asymptotic stability, the H∞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. Standard and dilated linear matrix inequality-based robust H∞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 linear matrix inequality-based H∞H∞ control satisfies lower H∞H∞ norm than a standard H∞H∞ control. Moreover, the proposed controller demonstrates a very successful performance in achieving performance objectives despite the stringent norm-bounded parameter uncertainties.
Original languageEnglish
Pages (from-to)1275-1287
Number of pages13
JournalTransactions of the Institute of Measurement and Control
Issue number6
Early online date20 Oct 2021
Publication statusPublished - 1 Apr 2022


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

ASJC Scopus subject areas

  • Instrumentation


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