Task-space synchronisation of nonlinear teleoperation with time-varying delays and actuator saturation

Zakerimanesh A., Hashemzadeh F., Tavakoli M.

International Journal of Control, vol.93, no.6, pp.1328-1344, 2020 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 93 Issue: 6
  • Publication Date: 2020
  • Doi Number: 10.1080/00207179.2018.1506158
  • Journal Name: International Journal of Control
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, zbMATH
  • Page Numbers: pp.1328-1344
  • Keywords: Actuator saturation, nonlinear teleoperation, redundant manipulator, semi-autonomous system, time-varying delay
  • Istanbul Technical University Affiliated: No


In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious constraint, disregarding it in the controller design stage can cause problems. In this paper, we have proposed a control framework to ensure end-effectors position tracking while satisfying sub-task control in the presence of the nonlinear dynamics for the telemanipulators, bounded time-varying delays in the communication channels and saturation in the actuators. We have shown that in free motion and when the operator applies a bounded force to the local robot, the proposed controller not only guarantees the position convergence of the end-effectors but also guarantees the accomplishment of the sub-task control. The efficiency of the proposed control algorithm is validated showing a number of numerical simulations.