Robust H∞ Control of a Bilateral Teleoperation System Using Dilated Linear Matrix Inequalities

Abstract

Abstract. This article deals with the problems of robust H∞ controller for a bilateral teleoperation system. The bilateral teleoperation system is represented by a Takagi–Sugeno fuzzy control system. The proposed approach ensures robust stability, utilizing Lyapunov approach. Robust H∞ state feedback controllers based on standard and dilated linear matrix inequalities are designed. Numerical simulation results demonstrate that the H∞ control based on the dilated linear matrix inequality satisfies a lower H∞ norm than a standard H∞ control. Additionally, a comparative analysis with an existing literature method is presented to underscore the effectiveness of our proposed methodology.