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In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master-slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch.(More)
Time-delay in communication channels and uncertainty in different parts of the teleoperation systems are considered to be a major group of destructive factors in stability and performance of these systems. This paper suggests a new method based on a Linear Matrix Inequality (LMI) approach to establish robust PID controllers. The stability and performance of(More)
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