Controller Design for a Teleoperation System with Time Delay

A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.