{"id":"https://openalex.org/W2782181220","doi":"https://doi.org/10.1109/access.2018.2789864","title":"Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays","display_name":"Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2782181220","doi":"https://doi.org/10.1109/access.2018.2789864","mag":"2782181220"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2789864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2789864","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2789864","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100608277","display_name":"Yuling Li","orcid":"https://orcid.org/0000-0001-7832-4345"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuling Li","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7832-4345","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101512101","display_name":"Yixin Yin","orcid":"https://orcid.org/0000-0001-6056-8878"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixin Yin","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024869142","display_name":"Dezheng Zhang","orcid":"https://orcid.org/0000-0002-3456-5259"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dezheng Zhang","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100608277"],"corresponding_institution_ids":["https://openalex.org/I92403157"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.4172,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.91906764,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"5740","last_page":"5748"},"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":0.942300021648407,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9258000254631042,"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":0.9297949075698853},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.7347723245620728},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7116844058036804},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6823068857192993},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6551225185394287},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5844733715057373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5649371147155762},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.541159987449646},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.512773334980011},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5063987970352173},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46770617365837097},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.44497808814048767},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4125465750694275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3818584382534027},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2342509627342224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13151299953460693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12226516008377075}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9297949075698853},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.7347723245620728},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7116844058036804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6823068857192993},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6551225185394287},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5844733715057373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5649371147155762},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.541159987449646},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.512773334980011},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5063987970352173},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46770617365837097},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.44497808814048767},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4125465750694275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3818584382534027},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2342509627342224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13151299953460693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12226516008377075},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2789864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2789864","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0702b864950742dd82a6cca4e579de61","is_oa":true,"landing_page_url":"https://doaj.org/article/0702b864950742dd82a6cca4e579de61","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 5740-5748 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2789864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2789864","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1712746590","display_name":null,"funder_award_id":"61503026","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5146081240","display_name":null,"funder_award_id":"XK100080537","funder_id":"https://openalex.org/F4320335842","funder_display_name":"Beijing Key Discipline Development Program"},{"id":"https://openalex.org/G5356039777","display_name":null,"funder_award_id":"FPR-BD-16-005A","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5845611645","display_name":null,"funder_award_id":"FRF-TP-16-024A1","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7934771358","display_name":null,"funder_award_id":"61333002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320335842","display_name":"Beijing Key Discipline Development Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1806226944","https://openalex.org/W1851272434","https://openalex.org/W1965361141","https://openalex.org/W1967390389","https://openalex.org/W1971178358","https://openalex.org/W2003038331","https://openalex.org/W2009529220","https://openalex.org/W2015982707","https://openalex.org/W2017450428","https://openalex.org/W2020951772","https://openalex.org/W2022818831","https://openalex.org/W2026663441","https://openalex.org/W2046241383","https://openalex.org/W2058098941","https://openalex.org/W2069411122","https://openalex.org/W2091728385","https://openalex.org/W2104236235","https://openalex.org/W2105369176","https://openalex.org/W2106829284","https://openalex.org/W2120087605","https://openalex.org/W2158695337","https://openalex.org/W2161759256","https://openalex.org/W2164010209","https://openalex.org/W2167055252","https://openalex.org/W2172159805","https://openalex.org/W2203912979","https://openalex.org/W2236685377","https://openalex.org/W2283950573","https://openalex.org/W2337290239","https://openalex.org/W2474007483","https://openalex.org/W2554364914","https://openalex.org/W2560401208","https://openalex.org/W2561111412","https://openalex.org/W2575014985","https://openalex.org/W2756339389","https://openalex.org/W4245550013","https://openalex.org/W6683098765"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W157833000","https://openalex.org/W2101849315"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,50],"novel":[4],"adaptive":[5],"control":[6,65,79,108],"framework":[7],"for":[8],"nonlinear":[9],"teleoperation":[10],"systems":[11],"with":[12,30],"dynamic":[13],"and":[14,17,43,53,67,71,77,118],"kinematic":[15],"uncertainties":[16],"time-varying":[18],"time":[19,47],"delays.":[20],"Master-slave":[21],"synchronization":[22,114],"in":[23,49,63],"the":[24,31,34,40,44,54,57,64,69,78,90,106,112,116,119],"task":[25],"space":[26],"is":[27,100],"achieved.":[28],"Compared":[29],"previous":[32],"work,":[33],"developed":[35,107],"method":[36],"can":[37,74,110],"simultaneously":[38],"handle":[39],"unknown":[41],"kinematics/dynamics":[42],"asymmetric":[45],"varying":[46],"delays":[48],"unified":[51],"framework,":[52],"inverses":[55],"of":[56],"robots'":[58],"Jacobians":[59],"are":[60,93],"not":[61],"needed":[62],"design,":[66],"thus":[68],"master":[70,117],"slave":[72],"robots":[73],"be":[75,82],"redundant":[76],"law":[80,109],"will":[81],"implemented":[83],"more":[84],"efficiently.":[85],"Based":[86],"on":[87],"Lyapunov-Krasovskii":[88],"methods,":[89],"stability":[91],"criteria":[92],"established":[94],"by":[95,102],"linear":[96],"matrix":[97],"inequalities.":[98],"It":[99],"shown":[101],"simulation":[103],"studies":[104],"that":[105],"guarantee":[111],"task-space":[113],"between":[115],"slave.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
