TY - JOUR T1 - Bounded Adaptive Control of Uncertain Nonlinear Teleoperation with Actuators Saturation and Asymmetric Varying Time Delays TT - کنترل تطبیقی محدود سیستم تله اپراتوری غیرخطی نامعین با وجود اشباع محرک ها و تاخیر زمانی نامتقارن و متغیر بازمان JF - joc-isice JO - joc-isice VL - 11 IS - 1 UR - http://joc.kntu.ac.ir/article-1-369-en.html Y1 - 2017 SP - 19 EP - 25 KW - Nonlinear Teleoperation KW - Asymmetric Time-varying Delay KW - Actuator Saturation KW - Asymptotic Stability KW - Bounded Adaptive Control N2 - 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. M3 ER -