Guaranteed Cost Control in Delayed Teleoperation Systems Under Actuator Saturation

  • Leila Mohammadi
  • Alireza AlfiEmail author
Research Paper


Control input saturation is a significant problem in the physical control systems, such as teleoperation systems, due to the limited power of actuators. The main goal of this paper is to present a control structure to achieve delay-independent stability of bilateral teleoperation systems under actuator saturation. Based on the Razumikhin theorem, stability analysis of such systems is realized via the state convergence technique. The difficulty of this stability study comes from the time delay appeared in the transmission channel and the nonlinearity term imposed by the control input saturation. First, a control structure is developed in terms of the transparency condition to attain the master and slave states convergence. Afterward, guaranteed cost controller (GCC) in terms of linear matrix inequality is designed to attain both stability and transparency simultaneously. Eventually, the optimal GCC’s parameters are computed by considering the problem under study as a convex optimization. Simulations illustrate that the performance of the control structure is satisfactory.


Teleoperation Delay-independent stability Input saturation Guaranteed cost control State convergence 


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Copyright information

© Shiraz University 2019

Authors and Affiliations

  1. 1.Faculty of Electrical and Robotic EngineeringShahrood University of TechnologyShahroodIran

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