{"id":"https://openalex.org/W2947066805","doi":"https://doi.org/10.1017/s0263574719000791","title":"A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master/Multi-Slave System","display_name":"A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master/Multi-Slave System","publication_year":2019,"publication_date":"2019-05-30","ids":{"openalex":"https://openalex.org/W2947066805","doi":"https://doi.org/10.1017/s0263574719000791","mag":"2947066805"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000791","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000791","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/A5072753481","display_name":"Maryam Farahmandrad","orcid":"https://orcid.org/0000-0001-6835-7100"},"institutions":[{"id":"https://openalex.org/I167694869","display_name":"Bu-Ali Sina University","ror":"https://ror.org/04ka8rx28","country_code":"IR","type":"education","lineage":["https://openalex.org/I167694869"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Maryam Farahmandrad","raw_affiliation_strings":["Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails:"],"raw_orcid":"https://orcid.org/0000-0001-6835-7100","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails:","institution_ids":["https://openalex.org/I167694869"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059276409","display_name":"Soheil Ganjefar","orcid":"https://orcid.org/0000-0001-7030-2766"},"institutions":[{"id":"https://openalex.org/I167694869","display_name":"Bu-Ali Sina University","ror":"https://ror.org/04ka8rx28","country_code":"IR","type":"education","lineage":["https://openalex.org/I167694869"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Soheil Ganjefar","raw_affiliation_strings":["Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails:","institution_ids":["https://openalex.org/I167694869"]}]},{"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":false,"raw_author_name":"Heidar Ali Talebi","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology. E-mail:","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043664688","display_name":"Mahdi Bayati","orcid":"https://orcid.org/0000-0002-0045-4729"},"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":"Mahdi Bayati","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology. E-mail:"],"raw_orcid":"https://orcid.org/0000-0002-0045-4729","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology. E-mail:","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043664688"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":1.0374,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.74208175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"38","issue":"3","first_page":"475","last_page":"492"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9230999946594238,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.91839998960495,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.950183629989624},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.740465521812439},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7377098798751831},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.7113639116287231},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6849671602249146},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.6432968974113464},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5961629152297974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5635095834732056},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48503535985946655},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4766731560230255},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.45090100169181824},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43361276388168335},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.43272367119789124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4214223027229309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.282676100730896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07527032494544983}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.950183629989624},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.740465521812439},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7377098798751831},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.7113639116287231},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6849671602249146},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6432968974113464},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5961629152297974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5635095834732056},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48503535985946655},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4766731560230255},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.45090100169181824},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43361276388168335},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.43272367119789124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4214223027229309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.282676100730896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07527032494544983},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719000791","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000791","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1134107867","https://openalex.org/W1509235676","https://openalex.org/W1977088290","https://openalex.org/W1977227980","https://openalex.org/W1981504210","https://openalex.org/W2011804249","https://openalex.org/W2023883583","https://openalex.org/W2044187300","https://openalex.org/W2051643363","https://openalex.org/W2053336548","https://openalex.org/W2070003308","https://openalex.org/W2095822583","https://openalex.org/W2096369755","https://openalex.org/W2106946847","https://openalex.org/W2107879787","https://openalex.org/W2108427149","https://openalex.org/W2118709214","https://openalex.org/W2130351752","https://openalex.org/W2135154992","https://openalex.org/W2135464393","https://openalex.org/W2153619847","https://openalex.org/W2153896979","https://openalex.org/W2199828999","https://openalex.org/W2492722220","https://openalex.org/W2562634333","https://openalex.org/W2582998992","https://openalex.org/W2597759076","https://openalex.org/W2612286111","https://openalex.org/W2626187667","https://openalex.org/W2801378221","https://openalex.org/W2888959795","https://openalex.org/W4232027764","https://openalex.org/W4285719527","https://openalex.org/W6682574468","https://openalex.org/W6751111592"],"related_works":["https://openalex.org/W2046994655","https://openalex.org/W4237825506","https://openalex.org/W2921156538","https://openalex.org/W2947066805","https://openalex.org/W2158695337","https://openalex.org/W2809705276","https://openalex.org/W2061754215","https://openalex.org/W1480154578","https://openalex.org/W2328397817","https://openalex.org/W2029070826"],"abstract_inverted_index":{"Summary":[0],"This":[1],"paper":[2],"proposes":[3],"a":[4,9,66],"novel":[5],"control":[6,63,68,94],"framework":[7],"for":[8,70],"single-master/multi-slave":[10],"teleoperation":[11],"system":[12,95],"to":[13,62],"grasp":[14],"and":[15,21,29,52,83,88],"handle":[16],"an":[17],"object,":[18],"considering":[19],"nonlinearity":[20],"uncertainty":[22],"in":[23,32],"the":[24,27,33,41,44,71,80,93,99],"dynamics":[25,42],"of":[26,43],"slaves":[28,45],"time-varying":[30],"delay":[31],"communication":[34],"channel.":[35],"Based":[36],"on":[37],"passive":[38],"decomposition":[39],"approach,":[40],"are":[46,60],"decomposed":[47],"into":[48],"two":[49,54],"decoupled":[50],"systems,":[51],"then":[53],"higher":[55],"order":[56],"sliding":[57],"mode":[58],"controllers":[59],"designed":[61],"them.":[64],"Also,":[65],"synchronization":[67],"methodology":[69],"master":[72],"is":[73,76],"developed.":[74],"Stability":[75],"fully":[77],"studied":[78],"using":[79],"passivity":[81],"property":[82],"Lyapunov":[84],"theorem.":[85],"Finally,":[86],"simulation":[87],"practical":[89],"results":[90],"confirm":[91],"that":[92],"works":[96],"well":[97],"against":[98],"conditions.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
