Robust PEB controller design for teleoperation with variable time delay

In this paper, design and implementation of a position error based (PEB) controller scheme is presented. An H∞ robust controller is employed to guaranty the stability and performance of the slave robot in the presence of various uncertainties, such as unmodeled dynamics or external forces acting as disturbances. A nonlinear small-gain stability analysis is performed in order to prove ability of the proposed scheme to stabilize overall teleoperation system, including communication channel with variable time delays. Experimental results, realized by developing a real-time simulator, validate the performance of the proposed scheme.