Swarm-based structure-specified controller design for bilateral transparent teleoperation systems via μ synthesis

This paper proposes a novel robust controller design for bilateral teleoperation systems using μ synthesis based on an inspired algorithm namely particle swarm optimization with time-varying acceleration coefficients. In the proposed structure, the μ synthesis problem is considered as a constraint optimization problem. Indeed, this technique proposes a novel alternative solution for solving the μ synthesis problem to design simple structure controllers satisfying robust stability and performance. The goal of the proposed structure is to achieve complete transparency and robust stability for bilateral teleoperation systems with uncertainty in time delay and task environment. To this reason, two local controllers are designed. One local controller is responsible for tracking the master commands and the other local controller is in charge of force tracking as well as guaranteeing the stability of a closed-loop system. The comparative results demonstrate the effectiveness of the proposed controller compared with the results obtained from D-K iteration controller.