AU - Ganjefar, soheil AU - Rezaei, sara AU - Hashemzadeh, Farzad TI - Bounded Adaptive Control of Uncertain Nonlinear Teleoperation with Actuators Saturation and Asymmetric Varying Time Delays PT - JOURNAL ARTICLE TA - joc-isice JN - joc-isice VO - 11 VI - 1 IP - 1 4099 - http://joc.kntu.ac.ir/article-1-369-en.html 4100 - http://joc.kntu.ac.ir/article-1-369-en.pdf SO - joc-isice 1 ABĀ  - In this paper, adaptive controller is proposed for bilateral teleoperation systems with parametric uncertainties, asymmetric time-varying delays in their communication channel and sandwich linearity in their actuators. The proposed bounded adaptive approach is a nonlinear-Proportional plus nonlinear Damping (nP+nD) controller which nonlinear adaptive terms are also employed locally to cope with the parametric uncertainties. The designed controller has the ability to deal with parameter variations in the dynamics of the master and slave robots . The proposed controller also guarantees asymptotic stability and position tracking and avoiding the inputs to reach their usual actuator bounds. The asymptotic stability and tracking performance of the teleoperation system are proved using a Lyapunov-Krasovskii functional. The effectiveness of the proposed method is corroborated through simulation results. CP - IRAN IN - Iran- Hamedan- Bu Ali Sina University LG - eng PB - joc-isice PG - 19 PT - Research paper YR - 2017