H∞ control of a bilateral teleoperation system: Application to a PV system

Abstract

This paper presents a novel approach for the H∞ control of a bilateral teleoperation system by combining dilated Linear Matrix Inequalities (LMIs) and the Takagi-Sugeno (T-S) fuzzy approach. The proposed methodology aims to enhance the control performance and robustness of bilateral teleoperation systems by leveraging the advantages of both dilated LMIs and T-S fuzzy modeling. The proposed approach ensures robust stability by utilizing Lyapunov stability analysis. Robust H∞ state feedback controllers are developed using both standard and dilated linear matrix inequalities to accommodate uncertain-ties inherent in the master/slave system. As an illustrative example, we enrich our approach by integrating a simulation model of a photovoltaic system. This extension demonstrates the versatility of our methodology by applying it to a distinct domain.