Position Synchronization of an Uncertain Teleoperation System with Time Delays Using L1 Theory

The problem of position tracking in teleoperation systems containing latencies and dynamical uncertainties is addressed this work. In many applications, such as telesurgery, safe interaction with the external environment a factor which may undermine synchronization positions. For nondestructive contact environment, addition to an errorless steady-state tracking, closed-loop system requires have response least possible overshoot. To end, state-feedback controller based upon L1 theory proposed compensator synthesized utilizing linear matrix inequality (LMI) technology, asymptotic stability verified employing Lyapunov-Krasovskii functional. Another advantage control scheme that it robust asymmetric randomly varying time delays communication channels. L1-based finally compared well-known sliding mode via simulation, proved outperform from maximum error point view, while preserving low error. also illustrated be effective even presence model uncertainties.