{"id":"https://openalex.org/W2138194170","doi":"https://doi.org/10.1017/s0263574712000604","title":"A sliding-mode controller for dual-user teleoperation with unknown constant time delays","display_name":"A sliding-mode controller for dual-user teleoperation with unknown constant time delays","publication_year":2012,"publication_date":"2012-10-19","ids":{"openalex":"https://openalex.org/W2138194170","doi":"https://doi.org/10.1017/s0263574712000604","mag":"2138194170"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000604","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000604","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052293187","display_name":"Mahya Shahbazi","orcid":null},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mahya Shahbazi","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","Amirkabir University of Technology"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir University of Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057991229","display_name":"S. Farokh Atashzar","orcid":"https://orcid.org/0000-0001-8495-8440"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Farokh Atashzar","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032706707","display_name":"Heidar Ali Talebi","orcid":"https://orcid.org/0000-0001-6038-2109"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"H. A. Talebi","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","Amirkabir University of Technology"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir University of Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053377161","display_name":"Farzad Towhidkhah","orcid":"https://orcid.org/0000-0003-3135-9609"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"F. Towhidkhah","raw_affiliation_strings":["Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran","Amirkabir University of Technology"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir University of Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. J. Yazdanpanah","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","University\u00a0of\u00a0Tehran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"University\u00a0of\u00a0Tehran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032706707"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":2.2107,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87937196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"31","issue":"4","first_page":"589","last_page":"598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9121999740600586,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8699867725372314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8351305723190308},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6740747690200806},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5551095008850098},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.5360729098320007},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5241294503211975},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49407461285591125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4842092990875244},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.46325573325157166},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4191087484359741},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4129880964756012},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3875497579574585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33042964339256287},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2203090488910675}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8699867725372314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8351305723190308},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6740747690200806},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5551095008850098},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.5360729098320007},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5241294503211975},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49407461285591125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4842092990875244},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.46325573325157166},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4191087484359741},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4129880964756012},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3875497579574585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33042964339256287},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2203090488910675},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000604","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000604","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1550889029","https://openalex.org/W1967390389","https://openalex.org/W1975024754","https://openalex.org/W2008489673","https://openalex.org/W2012607511","https://openalex.org/W2022242946","https://openalex.org/W2025006326","https://openalex.org/W2029011540","https://openalex.org/W2035897071","https://openalex.org/W2058314102","https://openalex.org/W2068050180","https://openalex.org/W2101051269","https://openalex.org/W2116612182","https://openalex.org/W2120489973","https://openalex.org/W2125295512","https://openalex.org/W2135464393","https://openalex.org/W2139789474","https://openalex.org/W2145116309","https://openalex.org/W2149369295","https://openalex.org/W2156171800","https://openalex.org/W2323447981","https://openalex.org/W2561111412","https://openalex.org/W4205362845","https://openalex.org/W4210502053","https://openalex.org/W6655920985","https://openalex.org/W6657470876","https://openalex.org/W6678706218","https://openalex.org/W6680463615","https://openalex.org/W6681378312"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W4390338938","https://openalex.org/W2017331141"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1,37,100,139],"this":[2],"paper,":[3],"a":[4,45,129,160],"control":[5],"methodology":[6],"is":[7,49,61,77,98,105,122,166],"proposed":[8,52,119,158],"for":[9,107],"dual-user":[10,24,69,130],"teleoperation":[11],"system":[12,110,131],"in":[13,63,132,156],"the":[14,33,41,64,75,88,95,102,108,112,118,133,150,157],"presence":[15,134],"of":[16,74,80,90,94,117,135,144,146],"unknown":[17,55,136],"constant":[18],"communication":[19,56,85,137],"time":[20,81,96],"delay.":[21,138],"To":[22],"satisfy":[23,40],"system-desired":[25],"objectives,":[26],"three":[27],"impedance":[28,43,47],"characteristics":[29],"are":[30,154],"defined":[31],"as":[32],"desired":[34,42],"closed-loop":[35,109],"system.":[36],"order":[38],"to":[39,142,149],"characteristics,":[44],"sliding-mode-based":[46],"controller":[48,53,76,120],"applied.":[50],"The":[51,71,115],"affords":[54],"delay,":[57],"an":[58],"issue":[59],"that":[60,153],"disregarded":[62],"previous":[65],"studies":[66],"performed":[67,127],"on":[68,128],"systems.":[70],"nonlinear":[72],"gain":[73],"achieved":[78],"independent":[79],"delay":[82,97],"caused":[83],"by":[84],"channels.":[86],"Therefore,":[87],"necessity":[89],"measurement":[91],"or":[92],"estimation":[93],"relaxed.":[99],"addition,":[101,140],"stability":[103],"analysis":[104],"presented":[106],"using":[111],"passivity":[113],"theory.":[114],"validity":[116],"scheme":[121],"demonstrated":[123],"via":[124],"experimental":[125],"results":[126],"due":[141],"lack":[143],"availability":[145],"forces":[147],"corresponding":[148],"operators\u2019":[151],"hand":[152],"required":[155],"controller,":[159],"Kalman":[161],"Filter-based":[162],"Force":[163],"Observer":[164],"(KFFO)":[165],"proposed.":[167]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
