Nonlinear Observer Design via Emulation Method for Sampled-Data Teleoperation Systems

In this paper nonlinear observers have been designed for the sampled-data teleoperation systems. The proposed approach can be utilized for continuous-time systems which are implemented by digital computers and sample and hold devices. Continues-time design (CTD) estimation procedure will be presented for nonlinear sampled-data teleoperation systems. Assumptions and input to state stability conditions will be provided to facilitate the observers to converge to the actual states at each sampling interval in a semiglobal practical sense. The exact sampled-data form of the teleoperator will be approximated by utilizing the refined Euler model and incorporating observer parameters with sampling intervals. Simulation results demonstrate that the proposed emulation-based scheme guarantees the input-to-error stability of the system in terms of the linear matrix inequalities.