{"id":"https://openalex.org/W2910964134","doi":"https://doi.org/10.1109/access.2019.2891887","title":"RBFNN-Based Adaptive Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System Under Time-Varying Delays","display_name":"RBFNN-Based Adaptive Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System Under Time-Varying Delays","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2910964134","doi":"https://doi.org/10.1109/access.2019.2891887","mag":"2910964134"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2891887","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891887","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08610299.pdf","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://ieeexplore.ieee.org/ielx7/6287639/8600701/08610299.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082776220","display_name":"Fanghao Huang","orcid":"https://orcid.org/0000-0003-3710-114X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fanghao Huang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3710-114X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441726","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-9495-9356"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["CSSC (Zhejiang) Ocean Technology Co., Ltd., Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSSC (Zhejiang) Ocean Technology Co., Ltd., Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370688","display_name":"Zheng Chen","orcid":"https://orcid.org/0000-0003-0961-8758"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Chen","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0961-8758","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063723671","display_name":"Jianzhong Tang","orcid":"https://orcid.org/0000-0002-8556-6390"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianzhong Tang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8556-6390","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371475","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-0828-7486"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0002-0828-7486","affiliations":[{"raw_affiliation_string":"Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5082776220"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.853,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93343557,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"11905","last_page":"11912"},"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":0.9520000219345093,"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"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9093999862670898,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9417915344238281},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8094606399536133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6158931255340576},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5308094024658203},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47488754987716675},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45162433385849},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4492338299751282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37100088596343994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26306477189064026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16564980149269104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1252649426460266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12067893147468567}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9417915344238281},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8094606399536133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6158931255340576},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5308094024658203},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47488754987716675},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45162433385849},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4492338299751282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37100088596343994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26306477189064026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16564980149269104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1252649426460266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12067893147468567},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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.2019.2891887","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891887","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08610299.pdf","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:8b19c916eb8c4f989e24a32445964762","is_oa":true,"landing_page_url":"https://doaj.org/article/8b19c916eb8c4f989e24a32445964762","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 7, Pp 11905-11912 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2891887","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891887","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08610299.pdf","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":[],"awards":[{"id":"https://openalex.org/G4576480941","display_name":null,"funder_award_id":"51705452","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5462832004","display_name":null,"funder_award_id":"61603332","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7728847339","display_name":null,"funder_award_id":"LY19E050016","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2910964134.pdf","grobid_xml":"https://content.openalex.org/works/W2910964134.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1651179372","https://openalex.org/W1956580242","https://openalex.org/W1967390389","https://openalex.org/W2014760095","https://openalex.org/W2017383088","https://openalex.org/W2021396655","https://openalex.org/W2072156826","https://openalex.org/W2094434808","https://openalex.org/W2105853760","https://openalex.org/W2113436535","https://openalex.org/W2116119284","https://openalex.org/W2116376861","https://openalex.org/W2124237013","https://openalex.org/W2150762479","https://openalex.org/W2156947754","https://openalex.org/W2159851305","https://openalex.org/W2162866111","https://openalex.org/W2168986517","https://openalex.org/W2322567141","https://openalex.org/W2342610385","https://openalex.org/W2342926333","https://openalex.org/W2343129838","https://openalex.org/W2343736713","https://openalex.org/W2369439413","https://openalex.org/W2491388840","https://openalex.org/W2561111412","https://openalex.org/W2607112850","https://openalex.org/W2698548017","https://openalex.org/W2749412222","https://openalex.org/W2782906176","https://openalex.org/W2792561954","https://openalex.org/W2794110755","https://openalex.org/W2800523628","https://openalex.org/W2802617005","https://openalex.org/W2894270381","https://openalex.org/W2897986165"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"The":[0,104,184],"bilateral":[1,31,69],"teleoperation":[2,32,70],"technique":[3],"has":[4],"drawn":[5],"much":[6],"attention":[7],"with":[8,72,169,198],"its":[9],"attractive":[10],"superiority":[11],"to":[12,34,92,118,151],"implement":[13],"the":[14,24,29,67,79,87,94,99,114,120,129,136,148,153,156,161,165,191,194],"tasks":[15],"in":[16,28,85,147],"hazardous":[17],"environments.":[18],"Transmission":[19],"delays":[20,74,134],"and":[21,37,45,75,89,116,164,173,190],"uncertainties":[22],"are":[23],"two":[25],"main":[26],"challenges":[27],"nonlinear":[30,68],"system":[33,71,125],"guarantee":[35,152],"stability":[36,163],"achieve":[38,119],"good":[39,121,166],"transparency":[40,167],"performance":[41,123,168,196],"(including":[42],"position":[43,171],"tracking":[44,100,122,172],"force":[46,174],"feedback)":[47],"simultaneously.":[48],"In":[49],"this":[50],"paper,":[51],"a":[52,139],"radial":[53],"basis":[54],"function":[55,144],"neural":[56],"network":[57],"(RBFNN)-based":[58],"adaptive":[59,106],"sliding":[60,107],"mode":[61,108],"control":[62,201],"design":[63],"is":[64,83,110,145,187],"developed":[65],"for":[66,98,113,180],"transmission":[73,133],"uncertainties.":[76,126],"For":[77],"details,":[78],"reference":[80,96],"trajectory":[81],"producer":[82],"designed":[84,111],"both":[86,170],"master":[88,115,149],"slave":[90,117],"sides":[91],"produce":[93],"passive":[95],"trajectories":[97],"of":[101,132,155],"master/slave":[102],"manipulators.":[103],"RBFNN-based":[105],"controller":[109],"separately":[112],"under":[124],"To":[127],"mitigate":[128],"negative":[130],"effect":[131],"on":[135],"system's":[137],"stability,":[138],"projection":[140],"mapping":[141],"by":[142],"saturation":[143],"applied":[146],"side":[150],"boundedness":[154],"delayed":[157],"environmental":[158],"torque.":[159],"Thus,":[160],"global":[162],"feedback":[175],"can":[176],"be":[177],"simultaneously":[178],"achieved":[179],"our":[181,199],"proposed":[182,200],"method.":[183],"comparative":[185],"experiment":[186],"carried":[188],"out,":[189],"results":[192],"show":[193],"significant":[195],"improvement":[197],"design.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
