Design of Master-Slave Manipulator Systems with Robust Maneuverability for Uncertain Objects

This paper deals with the robust control problem of a master-slave manipulator for uncertain objects. The uncertain object is assumed to be a spring-damper system described by a linear model with bounded parameter perturbations. A feedback controller is obtained such that the closed-loop system is robust exponentially stable and the L2 gain from operator input to the penalty signal is less than a given level in the presence of parameter uncertainties. Experimental results are given to show the usefulness of the presented controller.