Document Type: Research/Original/Regular Article


1 Department of Electrical and Computer Engineering, Babol University of Technology

2 Faculty of Electrical and Robotic Engineering, Shahrood University of Technology


There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communication channel is assumed to be large, unknown and unsymmetric, but the upper bound of the delay is assumed to be known. The proposed method consists of two local controllers. One local controller namely local slave controller is located on the remote site to control the motion tracking and the other one is located on the local site namely local master controller to preserve the complete transparency by ensuring force tracking and the robust stability of the closed-loop system. To reduce the peak amplitude of output signal respect to the peak amplitude of input signal in slave site, the local slave controller is designed based on a bounded peak-to-peak gain controller. In order to provide a realistic case, an external signal as a noise of force sensor is also considered. Simulation results show the effectiveness of proposed control structure.