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

LISAC, Department of Physics, Faculty of Sciences Dhar El Mehraz, University of Sidi Mohamed Ben Abdellah, B.P. 1796, Fez-Atlas, Morocco

^* e-mail: fatimazahra.darouiche@usmba.ac.ma
^** e-mail: elhoussaine.tissir@usmba.ac.ma
^*** e-mail: ghizlane.elkhaloufi@usmba.ac.ma

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.