{"id":"https://openalex.org/W4285125065","doi":"https://doi.org/10.1109/access.2022.3174871","title":"Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System","display_name":"Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285125065","doi":"https://doi.org/10.1109/access.2022.3174871"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3174871","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174871","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774359.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/6514899/09774359.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003857555","display_name":"Linping Chan","orcid":"https://orcid.org/0000-0002-1458-4217"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linping Chan","raw_affiliation_strings":["Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China"],"raw_orcid":"https://orcid.org/0000-0002-1458-4217","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040535457","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-0195-3511"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019169850","display_name":"Qingqing Huang","orcid":"https://orcid.org/0000-0002-8298-5418"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Huang","raw_affiliation_strings":["Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China and Institute of Industrial Internet, Chongqing University of Posts and Telecommunications, Chongqing 401120, China"],"raw_orcid":"https://orcid.org/0000-0002-8298-5418","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China and Institute of Industrial Internet, Chongqing University of Posts and Telecommunications, Chongqing 401120, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100338655","display_name":"Ping Wang","orcid":"https://orcid.org/0000-0002-4409-979X"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Wang","raw_affiliation_strings":["Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China and Institute of Industrial Internet, Chongqing University of Posts and Telecommunications, Chongqing 401120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing 40065, China and Institute of Industrial Internet, Chongqing University of Posts and Telecommunications, Chongqing 401120, China","institution_ids":["https://openalex.org/I10535382"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003857555"],"corresponding_institution_ids":["https://openalex.org/I10535382"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8955,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.6904385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"52294","last_page":"52305"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9510999917984009,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9509000182151794,"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":0.9462358355522156},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.778276801109314},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6531009674072266},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6297703981399536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.629145085811615},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5903030037879944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3887127637863159},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2871929407119751},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1802290678024292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12405708432197571}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9462358355522156},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.778276801109314},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6531009674072266},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6297703981399536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.629145085811615},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5903030037879944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3887127637863159},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2871929407119751},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1802290678024292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12405708432197571},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3174871","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174871","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774359.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ceafd6d4330b4b5c9410bedfc3aca8eb","is_oa":false,"landing_page_url":"https://doaj.org/article/ceafd6d4330b4b5c9410bedfc3aca8eb","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 52294-52305 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3174871","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174871","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774359.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/G2098831178","display_name":null,"funder_award_id":"2018YFB1700200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3837289347","display_name":null,"funder_award_id":"cx2021026","funder_id":"https://openalex.org/F4320327835","funder_display_name":"Venture and Innovation Support Program for Chongqing Overseas Returnees"}],"funders":[{"id":"https://openalex.org/F4320327835","display_name":"Venture and Innovation Support Program for Chongqing Overseas Returnees","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285125065.pdf","grobid_xml":"https://content.openalex.org/works/W4285125065.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1517650133","https://openalex.org/W1651179372","https://openalex.org/W1776776473","https://openalex.org/W1967459982","https://openalex.org/W1980745754","https://openalex.org/W1985712950","https://openalex.org/W1987118475","https://openalex.org/W2012311101","https://openalex.org/W2025006326","https://openalex.org/W2070927739","https://openalex.org/W2099914424","https://openalex.org/W2103304361","https://openalex.org/W2121407927","https://openalex.org/W2124237013","https://openalex.org/W2129491937","https://openalex.org/W2131155826","https://openalex.org/W2162866111","https://openalex.org/W2241323601","https://openalex.org/W2289228381","https://openalex.org/W2342926333","https://openalex.org/W2343736713","https://openalex.org/W2433282201","https://openalex.org/W2561111412","https://openalex.org/W2587645433","https://openalex.org/W2607112850","https://openalex.org/W2766793684","https://openalex.org/W2792561954","https://openalex.org/W2883347035","https://openalex.org/W2913639712","https://openalex.org/W2915264809","https://openalex.org/W2946042454","https://openalex.org/W2954973371","https://openalex.org/W2958749291","https://openalex.org/W2997683045","https://openalex.org/W3162094662","https://openalex.org/W6733949164"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2070328658","https://openalex.org/W2100656120","https://openalex.org/W2164858976","https://openalex.org/W2046994655","https://openalex.org/W2164710040","https://openalex.org/W2352242069","https://openalex.org/W4281381717","https://openalex.org/W1479697094"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,93,138,168,177],"new":[4],"robust":[5],"adaptive":[6,17],"nonlinear":[7,38,117],"teleoperation":[8,153],"system":[9,154,160],"using":[10],"an":[11,43,74,123],"improved":[12],"extended":[13],"active":[14,50,75],"observer":[15,51,76],"(IEAOB),":[16],"Smith":[18],"predictor":[19],"(ASP)":[20],"and":[21,36,49,72,110,128,158],"sliding":[22,94],"mode":[23,95],"control":[24,96],"is":[25,52,67,77,90,98,104,155,162],"developed":[26],"to":[27,54,79,113,167],"address":[28],"the":[29,33,37,57,62,81,86,102,108,116,143,148,151,159],"time":[30,58,65,82],"delay":[31,59,66,88],"in":[32,142],"communication":[34,178],"channels":[35],"robot":[39,125],"model":[40,118,141],"uncertainties.":[41],"Firstly,":[42],"ASP":[44],"based":[45],"on":[46],"Pad\u00e9":[47,70],"approximation":[48],"designed":[53,152],"compensate":[55],"for":[56],"effect.":[60],"Specifically,":[61],"total":[63],"network":[64],"modelled":[68],"by":[69,164],"approximation,":[71],"then":[73],"deployed":[78],"estimate":[80],"delay.":[83],"To":[84],"ensure":[85],"time-varying":[87,181],"effect":[89],"completely":[91],"suppressed,":[92],"algorithm":[97],"further":[99],"developed.":[100],"Meanwhile,":[101],"IEAOB":[103],"utilized":[105],"at":[106],"both":[107],"master":[109],"slave":[111],"sides":[112],"deal":[114],"with":[115,180],"uncertainties,":[119],"it":[120,166],"can":[121],"provide":[122],"accurate":[124],"inertial":[126],"parameters":[127],"friction":[129],"estimation":[130,136],"as":[131,133],"well":[132],"external":[134],"force":[135,140],"without":[137],"structured":[139],"presence":[144],"of":[145,150,170],"disturbances.":[146],"Finally,":[147],"stability":[149],"theoretically":[156],"studied":[157],"effectiveness":[161],"demonstrated":[163],"applying":[165],"pair":[169],"Phantom":[171],"Omni":[172],"haptic":[173],"devices":[174],"connected":[175],"via":[176],"channel":[179],"delays.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
