Synchronization of bilateral teleoperation systems with input saturation

In bilateral teleoperation systems, stability and synchronization have been important problems in control engineering. Several control architectures have been developed to solve the these problems. In this paper, input saturation is considered. Saturation in these systems can destroy synchronization on established architecture. In this paper, it is shown that the synchronization is steel maintained even though there exists saturation. This result is proved by sector bounded function which can be seen as a saturation function.