Memetic-PSO Optimization-Based Fixed-Structure H/H∞Control Design for Bilateral Teleoperation System

The aim of designing a controller for a teleoperation system is to achieve robust stability and optimal performance in presence of time delay in communication channel and modeling errors. transparency is used as an index to evaluate the performance of the teleoperation system. high performancemeans that human operators can feel high accuracy reaction force from environments. this paper proposes an evolutionary approach to tune the parameters of a mixed h2/h∞ fixed structure controller via memetic particle swarm optimization (memetic-pso). according to our knowledge, this is the first research to apply mixed �2/�∞ problem via memetic-pso algorithm, especially in control of delayed siso systems. the main advantageous of the proposed method is to find a suitable controller that minimizes the performance index of error signal under the robust stability and robust performance conditions. in memetic-pso, a local pso model is used to disperse the particles in two different sub-regions. an adaptive local search (ls), which applies two different ls operators, is employed to refine the quality of particles. simulation results demonstrate the effectiveness of the proposed technique.