Robust H∞ control of an uncertain bilateral teleoperation system using dilated LMIs

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dc.contributor.authorGörmüş, Bilal
dc.contributor.authorYazıcı, Hakan
dc.contributor.authorKüçükdemiral, İbrahim Beklan
dc.date.accessioned2024-06-13T20:18:19Z
dc.date.available2024-06-13T20:18:19Z
dc.date.issued2022
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractA robust state-feedback H-infinity controller is proposed for an uncertain bilateral teleoperation system having norm-bounded parametric uncertainties on mass and damping coefficients of the considered master/slave system. The proposed method ensures robust stability and successful reference tracking and force reflection performance. While Lyapunov stability is used to ensures asymptotic stability, the H-infinity norm from exogenous input to the controlled output is utilized in satisfying the reference tracking and force reflection. As two performance objectives and robust stability requirement are conflicting with each other, the proposed controller reduces the associated conservatism with dilated linear matrix inequalities. Standard and dilated linear matrix inequality-based robust H-infinity state-feedback controllers are performed with a one degree of freedom uncertain master/slave system under reference signal and environmental-induced exogenous force. Numerical simulation results show that the dilated linear matrix inequality-based H-infinity control satisfies lower H-infinity norm than a standard H-infinity control. Moreover, the proposed controller demonstrates a very successful performance in achieving performance objectives despite the stringent norm-bounded parameter uncertainties.
dc.identifier.doi10.1177/01423312211049005
dc.identifier.endpage1287
dc.identifier.issn0142-3312
dc.identifier.issn1477-0369
dc.identifier.issue6
dc.identifier.scopus2-s2.0-85117485611
dc.identifier.scopusqualityQ2
dc.identifier.startpage1275
dc.identifier.urihttps://doi.org/10.1177/01423312211049005
dc.identifier.urihttps://hdl.handle.net/11501/1322
dc.identifier.volume44
dc.identifier.wosWOS:000710625300001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGörmüş, Bilal
dc.institutionauthorid0000-0002-2173-7664
dc.language.isoen
dc.publisherSage Publications Ltd
dc.relation.ispartofTransactions of the Institute of Measurement and Control
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectDilated Linear Matrix Inequalities
dc.subjectRobust H Infinity Controller
dc.subjectNorm-Bounded Uncertainties
dc.subjectBilateral Teleoperation System
dc.titleRobust H∞ control of an uncertain bilateral teleoperation system using dilated LMIs
dc.typeArticle

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