{"id":"https://openalex.org/W2974093263","doi":"https://doi.org/10.1109/jas.2019.1911690","title":"A composite state convergence scheme for bilateral teleoperation systems","display_name":"A composite state convergence scheme for bilateral teleoperation systems","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2974093263","doi":"https://doi.org/10.1109/jas.2019.1911690","mag":"2974093263"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2019.1911690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911690","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"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/CAA Journal of Automatica Sinica","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/A5002945363","display_name":"Muhammad Usman Asad","orcid":"https://orcid.org/0000-0003-4851-8602"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Muhammad Usman Asad","raw_affiliation_strings":["Department of Electrical &#x0026 Computer Engineering, Dalhousie University, N.S., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical &#x0026 Computer Engineering, Dalhousie University, N.S., Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038063757","display_name":"Umar Farooq","orcid":"https://orcid.org/0000-0003-0828-2842"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]},{"id":"https://openalex.org/I172780181","display_name":"University of the Punjab","ror":"https://ror.org/011maz450","country_code":"PK","type":"education","lineage":["https://openalex.org/I172780181"]}],"countries":["CA","PK"],"is_corresponding":false,"raw_author_name":"Umar Farooq","raw_affiliation_strings":["Department of Electrical &#x0026 Computer Engineering,Dalhousie University, N.S., Canada and also with the Department of Electrical Engineering, University of the Punjab Lahore, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical &#x0026 Computer Engineering,Dalhousie University, N.S., Canada and also with the Department of Electrical Engineering, University of the Punjab Lahore, Pakistan","institution_ids":["https://openalex.org/I129902397","https://openalex.org/I172780181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Department of Electrical &#x0026 Computer Engineering, Dalhousie University, N.S., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical &#x0026 Computer Engineering, Dalhousie University, N.S., Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020698455","display_name":"Ghulam Abbas","orcid":"https://orcid.org/0000-0002-2909-654X"},"institutions":[{"id":"https://openalex.org/I142204992","display_name":"University of Lahore","ror":"https://ror.org/051jrjw38","country_code":"PK","type":"education","lineage":["https://openalex.org/I142204992"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Ghulam Abbas","raw_affiliation_strings":["Department of Electrical Engineering, The University of Lahore, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of Lahore, Pakistan","institution_ids":["https://openalex.org/I142204992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034909379","display_name":"Rong Liu","orcid":"https://orcid.org/0000-0002-3238-5705"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Liu","raw_affiliation_strings":["Department of Biomedical Engineering, Dalian University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000355426","display_name":"Valentina Emilia B\u0103la\u015f","orcid":"https://orcid.org/0000-0003-0885-1283"},"institutions":[{"id":"https://openalex.org/I64956957","display_name":"Aurel Vlaicu University of Arad","ror":"https://ror.org/05w5rsy15","country_code":"RO","type":"education","lineage":["https://openalex.org/I64956957"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Valentina E. Balas","raw_affiliation_strings":["Department of Automatics and Applied Software, Aurel Vlaicu University of Arad, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics and Applied Software, Aurel Vlaicu University of Arad, Romania","institution_ids":["https://openalex.org/I64956957"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9885,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72189627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":"5","first_page":"1166","last_page":"1178"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9348000288009644,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9275000095367432,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9183259010314941},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7539929151535034},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5832566618919373},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.5306714177131653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5278472900390625},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.4600607454776764},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43337342143058777},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42775291204452515},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35754454135894775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3024902939796448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24407434463500977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22183480858802795},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17477503418922424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09724423289299011}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9183259010314941},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7539929151535034},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5832566618919373},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.5306714177131653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5278472900390625},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.4600607454776764},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43337342143058777},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42775291204452515},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35754454135894775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3024902939796448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24407434463500977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22183480858802795},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17477503418922424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09724423289299011},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2019.1911690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911690","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"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/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W189082263","https://openalex.org/W1560270123","https://openalex.org/W1565013751","https://openalex.org/W1967390389","https://openalex.org/W1971374550","https://openalex.org/W1985763904","https://openalex.org/W2000602207","https://openalex.org/W2024439876","https://openalex.org/W2071096513","https://openalex.org/W2079766748","https://openalex.org/W2085160992","https://openalex.org/W2097204134","https://openalex.org/W2099914424","https://openalex.org/W2105853760","https://openalex.org/W2110237472","https://openalex.org/W2116376861","https://openalex.org/W2120622075","https://openalex.org/W2121363846","https://openalex.org/W2124237013","https://openalex.org/W2159851305","https://openalex.org/W2168676985","https://openalex.org/W2342926333","https://openalex.org/W2344625667","https://openalex.org/W2536318021","https://openalex.org/W2540893129","https://openalex.org/W2561111412","https://openalex.org/W2580343407","https://openalex.org/W2652906870","https://openalex.org/W2774333146","https://openalex.org/W2782181220","https://openalex.org/W2792561954","https://openalex.org/W2883705983","https://openalex.org/W2900605005","https://openalex.org/W2905586563"],"related_works":["https://openalex.org/W157833000","https://openalex.org/W2999597854","https://openalex.org/W2147381805","https://openalex.org/W67105602","https://openalex.org/W1911355635","https://openalex.org/W1860162125","https://openalex.org/W4206027195","https://openalex.org/W2183133087","https://openalex.org/W2130381530","https://openalex.org/W2542139129"],"abstract_inverted_index":{"State":[0],"convergence":[1,87,107,112,164,187,195],"is":[2,93,158,190],"a":[3,43,96,105,168,183,222],"novel":[4],"control":[5,55],"algorithm":[6,188],"for":[7],"bilateral":[8,59],"teleoperation":[9,17,83,225],"of":[10,45,57,81,88,118,135,165,176,209],"robotic":[11],"systems.":[12,33],"First,":[13],"it":[14,35,157],"models":[15],"the":[16,25,29,54,58,68,77,82,86,116,122,143,163,174,201,205],"system":[18,74],"on":[19,221],"state":[20,111,177,186,194],"space":[21],"and":[22,31,75,90,131,138,154,207,215],"considers":[23],"all":[24],"possible":[26,160],"interactions":[27],"between":[28],"master":[30,89,130,137],"slave":[32,91,132,139],"Second,":[34],"presents":[36],"an":[37,72],"elegant":[38],"design":[39,62],"procedure":[40],"which":[41,189],"requires":[42],"set":[44],"equations":[46],"to":[47,52,161,182,199],"be":[48],"solved":[49],"in":[50,95,167,204],"order":[51,198],"compute":[53],"gains":[56],"loop.":[60],"These":[61],"conditions":[63],"are":[64,219],"obtained":[65],"by":[66,110,171],"turning":[67],"master-slave":[69],"error":[70],"into":[71],"autonomous":[73],"imposing":[76],"desired":[78,169],"dynamic":[79],"behavior":[80,108],"system.":[84,226],"Resultantly,":[85],"states":[92,140,166],"achieved":[94],"well-defined":[97],"manner.":[98],"The":[99,125,179],"present":[100],"study":[101],"aims":[102],"at":[103],"achieving":[104],"similar":[106],"offered":[109],"controller":[113],"while":[114,141],"reducing":[115],"number":[117],"variables":[119,133],"sent":[120],"across":[121],"communication":[123,210],"channel.":[124],"proposal":[126,180],"suggests":[127],"transmitting":[128],"composite":[129,153,193],"instead":[134],"full":[136],"keeping":[142],"operator's":[144],"force":[145,155],"channel":[146],"intact.":[147],"We":[148],"show":[149],"that,":[150],"with":[151],"these":[152],"variables;":[156],"indeed":[159],"achieve":[162],"way":[170],"strictly":[172],"following":[173],"method":[175],"convergence.":[178],"leads":[181],"reduced":[184],"complexity":[185],"termed":[191],"as":[192],"controller.":[196],"In":[197],"validate":[200],"proposed":[202],"scheme":[203],"absence":[206],"presence":[208],"time":[211,217],"delays,":[212],"MATLAB":[213],"simulations":[214],"semi-real":[216],"experiments":[218],"performed":[220],"single":[223],"degree-of-freedom":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}