A study on bilateral teleoperation with input saturation and systems

In bilateral teleoperation systems, stability and synchronization have been important problems in control engineering. Several control architectures have been developed to solve these problems. In addition to them, we consider an effect of input saturation on the system. Saturation generally can destroy synchronization within the established architecture. In this paper, we propose a new control scheme guaranteeing that all signals are ultimately bounded in the time delayed system. Furthermore, if there is no time delay, synchronization can be proved. Simulation results are presented to verify the effectiveness of the proposed architecture.