Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

  • Amir Zakerimanesh
  • Farzad HashemzadehEmail author
  • Ali Torabi
  • Mahdi Tavakoli
Regular Papers Control Theory and Applications


This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings.


Asymptotic stability redundant robot semi-autonomous system synchronization time-varying delay 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.Faculty of Electrical and Computer EngineeringUniversity of TabrizTabrizIran
  2. 2.Department of Electrical and Computer EngineeringUniversity of AlbertaEdmontonCanada

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