{"id":"https://openalex.org/W3134820413","doi":"https://doi.org/10.1109/lra.2021.3061976","title":"Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems With Synchronization Enhancement","display_name":"Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems With Synchronization Enhancement","publication_year":2021,"publication_date":"2021-02-24","ids":{"openalex":"https://openalex.org/W3134820413","doi":"https://doi.org/10.1109/lra.2021.3061976","mag":"3134820413"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061976","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5081671632","display_name":"Amir Zakerimanesh","orcid":"https://orcid.org/0000-0002-6256-8289"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Zakerimanesh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta"],"raw_orcid":"https://orcid.org/0000-0002-6256-8289","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042545418","display_name":"Mojtaba Sharifi","orcid":"https://orcid.org/0000-0002-9363-0540"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mojtaba Sharifi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta"],"raw_orcid":"https://orcid.org/0000-0002-9363-0540","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Farzad Hashemzadeh","orcid":"https://orcid.org/0000-0003-2019-8408"},"institutions":[{"id":"https://openalex.org/I41832843","display_name":"University of Tabriz","ror":"https://ror.org/01papkj44","country_code":"IR","type":"education","lineage":["https://openalex.org/I41832843"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Farzad Hashemzadeh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran"],"raw_orcid":"https://orcid.org/0000-0003-2019-8408","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran","institution_ids":["https://openalex.org/I41832843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta"],"raw_orcid":"https://orcid.org/0000-0002-7427-6961","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6766,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64536931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"6","issue":"2","first_page":"2493","last_page":"2500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9858999848365784,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/control-theory","display_name":"Control theory (sociology)","score":0.8591606616973877},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6827720403671265},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6732317209243774},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.641062319278717},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5854939818382263},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5597485899925232},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5484892725944519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5289590358734131},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5183035731315613},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4666709005832672},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46499103307724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31663978099823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2969812750816345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27167290449142456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2434500753879547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09661898016929626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08450713753700256},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.07480162382125854},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.059691429138183594}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8591606616973877},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6827720403671265},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6732317209243774},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.641062319278717},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5854939818382263},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5597485899925232},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5484892725944519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5289590358734131},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5183035731315613},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4666709005832672},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46499103307724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31663978099823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2969812750816345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27167290449142456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2434500753879547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09661898016929626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08450713753700256},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.07480162382125854},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.059691429138183594},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3061976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061976","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G4896119932","display_name":null,"funder_award_id":"LOF 28241","funder_id":"https://openalex.org/F4320319952","funder_display_name":"Canada Foundation for Innovation"}],"funders":[{"id":"https://openalex.org/F4320319952","display_name":"Canada Foundation for Innovation","ror":"https://ror.org/000az4664"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W246666880","https://openalex.org/W1506119886","https://openalex.org/W1509235676","https://openalex.org/W1983537384","https://openalex.org/W1995562561","https://openalex.org/W2017450428","https://openalex.org/W2024439876","https://openalex.org/W2030134241","https://openalex.org/W2040555760","https://openalex.org/W2085726513","https://openalex.org/W2101726627","https://openalex.org/W2104236235","https://openalex.org/W2104370419","https://openalex.org/W2105369176","https://openalex.org/W2126552455","https://openalex.org/W2135178826","https://openalex.org/W2150207874","https://openalex.org/W2156249477","https://openalex.org/W2536060554","https://openalex.org/W2564994130","https://openalex.org/W2800798277","https://openalex.org/W2801687289","https://openalex.org/W2808676029","https://openalex.org/W2810237105","https://openalex.org/W2886366388","https://openalex.org/W2947987508","https://openalex.org/W2964862165","https://openalex.org/W2965961991"],"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/W2296377172","https://openalex.org/W2160932924","https://openalex.org/W3086666119","https://openalex.org/W3151916380"],"abstract_inverted_index":{"This":[0],"letter":[1],"puts":[2],"forward":[3],"a":[4,50,96,163],"novel":[5],"controller":[6,57,134],"for":[7,42],"joint":[8],"position":[9,43,80],"tracking":[10],"of":[11,38,55,67,71,109],"bilateral":[12,164],"teleoperation":[13,165],"systems":[14],"subjected":[15],"simultaneously":[16],"to":[17,28],"time-varying":[18],"communication":[19],"delays":[20,32],"and":[21,52,69,106,152,159,173],"bounded":[22],"actuation.":[23],"Enhancing":[24],"such":[25],"systems'":[26],"robustness":[27],"the":[29,36,62,92,110,117,133,138,141,171],"larger":[30],"time":[31,41,66],"comes":[33],"prevalently":[34],"at":[35],"cost":[37],"increased":[39],"settling":[40,65],"synchronization.":[44],"To":[45],"this":[46],"end,":[47],"we":[48],"propose":[49],"general":[51],"refined":[53],"form":[54],"nP+D":[56,123],"that":[58,112,128],"not":[59],"only":[60],"mitigates":[61],"trade-off":[63],"between":[64],"synchronization":[68],"magnitude":[70],"time-delay":[72],"but":[73],"also":[74],"exhibits":[75],"better":[76],"transient":[77],"error":[78],"in":[79,91,98,100,121],"convergence.":[81],"These":[82],"advantages":[83],"are":[84,154],"brought":[85],"along":[86],"through":[87,156],"using":[88],"capped":[89],"joint-velocity":[90],"controller,":[93],"which":[94],"offers":[95],"blessing":[97],"disguise":[99],"our":[101],"presented":[102],"Lyapunov-based":[103],"stability":[104,145],"analysis":[105],"allows":[107],"disposing":[108],"limitation":[111],"was":[113],"originally":[114],"considered":[115],"on":[116,132,162],"nonlinear":[118],"function's":[119],"amplitude":[120],"previous":[122],"controllers.":[124],"We":[125],"have":[126],"shown":[127],"by":[129],"setting":[130],"conditions":[131],"parameters":[135],"obtained":[136],"from":[137],"analytical":[139],"study,":[140],"closed-loop":[142],"dynamics'":[143],"asymptotic":[144],"is":[146],"ensured.":[147],"The":[148],"proposed":[149],"controller's":[150],"efficacy":[151],"outperformance":[153],"validated":[155],"numerical":[157],"simulations":[158],"experimental":[160],"evaluations":[161],"system":[166],"with":[167],"multi-DOF":[168],"robots":[169],"as":[170],"leader":[172],"follower.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
