Abstract
In this paper, the force reflection control problem and position synchronization problem are simultaneously studied for a teleoperation system subjected to asymmetric time-varying delays. In virtue of the prescribed performance control technology, both steady-state and transient-state performance are taken into consideration. The so-called extended state observer is employed to obtain the unmeasured time delay information. In addition, the stability analysis is carried out for the overall teleoperation system. Simulation results have been provided to validate the nrnnosed force reflectlno strateov,
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