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

Amir Zakerimanesh, Farzad Hashemzadeh*, Ali Torabi, and Mahdi Tavakoli
International Journal of Control, Automation, and Systems, vol. 17, no. 8, pp.1875-1883, 2019

Abstract : 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.

Keyword : Asymptotic stability, redundant robot, semi-autonomous system, synchronization, time-varying delay.

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