Robust Stochastic Control for Networked Bilateral Teleoperation Systems

In this paper, novel H∞ controllers are proposed for networked bilateral teleoperation system with time-varying delays and random packet losses. The manipulators are considered as parametric non-identical manipulators. The characteristic of network, such as random time-varying delays and packet losses are thoroughly incorporated in the design. For such systems, the mismatched-model terms are treated as disturbance, then, the model of closed-loop error dynamics are derived. By constructing novel time delay and packet loss dependent Lyapunov functionals, a sufficient condition is derived to ensure the exponentially mean square stability with a given disturbance attenuation level &gM. Experimental results show the effectiveness of the proposed modeling method and control scheme.