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Adaptive control for a class of teleoperation systems with prescribed transient-state and steady-state tracking behavior is considered in this paper. Novel sliding variables are proposed such that the performance constraints which characterize the prescribed tracking performance can be addressed by a Barrier Lyapunov Function, and the backstepping-like approaches that are typically employed to the control of robotic systems are avoided. Besides, the acceleration information of the robots which is usually explored in the recently proposed prescribed-performance-based control design, but not easy to be available in real applications, is not included. In this respect, a control scheme of low complexity and straightforward implementation is obtained. The satisfaction of the tracking error convergence is illustrated by theoretical analysis and is verified by comparative simulation studies.

Adaptive control of teleoperation systems with prescribed tracking performance: a BLF-based approach