Adaptive Synchronization Control for Robotics Teleoperator in the Presence of Input Saturation, Uncertainties and Time Delays

This study concentrates on the state synchronization control for a teleoperation system with actuator input constraints, uncertainties and time delays. An adaptive control framework is provided to fulfill position and velocity synchronization for the uncertain teleoperation system which consists of local and remote robots. In order to eliminate the nonlinearity effect originating from saturation and disturbance, a robust control term is established, by designing the adaptive update algorithm to realize dynamic compensation. Then a coordination control law is developed to guarantee the position and velocity synchronization in twos cases:1)The teleoperator system is in free motion, and 2)The teleoperator system is subjected to local and remote operator force. Finally, the Lapunov method is applied to demonstrate the boundedness of the designed signals, and both position and velocity synchronization are simultaneously realized. Simulations are conducted to testify the performance of the suggested scheme.