Robust saturation-based control of bilateral teleoperation without velocity measurements

This paper addresses the control design problem under no velocity measurements for nonlinear teleoperation system in the presence of asymmetric time-varying delays. Based on the proposed proportional-derivative-like controller and nonlinear-proportional-derivative-like controller, which correspond, respectively, to the actuator non-saturation and actuator saturation, the control objectives of boundedness of velocities and position tracking errors for the master robot and the slave robot are obtained. These designed controllers do not rely on the velocity signals. The effectiveness of the proposed controller are finally verified by two numerical examples.