Formulation of transparency in bilateral teleoperation systems: A robust approach

Abstract

This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.