{"id":"https://openalex.org/W2012878052","doi":"https://doi.org/10.1109/robot.2010.5509910","title":"Generalized Bilateral MIMO Control by States Convergence with time delay and application for the teleoperation of a 2-DOF helicopter","display_name":"Generalized Bilateral MIMO Control by States Convergence with time delay and application for the teleoperation of a 2-DOF helicopter","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2012878052","doi":"https://doi.org/10.1109/robot.2010.5509910","mag":"2012878052"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5005763357","display_name":"Claudia P\u00e9rez-D\u2019Arpino","orcid":"https://orcid.org/0000-0002-2949-4214"},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Claudia Pe\u0301rez-D'Arpino","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076509733","display_name":"Wilfredis Medina-Mel\u00e9ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Wilfredis Medina-Mele\u0301ndez","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026251959","display_name":"L. Ferm\u0131\u0301n-Le\u00f3n","orcid":null},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Leonardo Fermi\u0301n-Leo\u0301n","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047450760","display_name":"Juan M. Bogado","orcid":null},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Juan Manuel Bogado","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007828053","display_name":"Rafael R. Torrealba","orcid":"https://orcid.org/0000-0001-5649-3797"},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Rafael R Torrealba","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101971527","display_name":"Gerardo Fern\u00e1ndez","orcid":"https://orcid.org/0000-0002-3608-8564"},"institutions":[{"id":"https://openalex.org/I629287","display_name":"Sim\u00f3n Bol\u00edvar University","ror":"https://ror.org/01ak5cj98","country_code":"VE","type":"education","lineage":["https://openalex.org/I629287"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Gerardo Ferna\u0301ndez-Lo\u0301pez","raw_affiliation_strings":["Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela","institution_ids":["https://openalex.org/I629287"]},{"raw_affiliation_string":"[Mechatronics Research Group, Sim\u00f3n Bol\u00edvar University, Venezuela]","institution_ids":["https://openalex.org/I629287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I629287"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.15267068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5328","last_page":"5333"},"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/T14011","display_name":"Elevator Systems and Control","score":0.9739999771118164,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9666000008583069,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8002760410308838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7153123617172241},{"id":"https://openalex.org/keywords/mimo","display_name":"MIMO","score":0.6980348229408264},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6538602709770203},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5444716811180115},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.5128848552703857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4743995666503906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.387542724609375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3803909420967102},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2820766568183899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13020256161689758},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06537520885467529}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8002760410308838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7153123617172241},{"id":"https://openalex.org/C207987634","wikidata":"https://www.wikidata.org/wiki/Q176862","display_name":"MIMO","level":3,"score":0.6980348229408264},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6538602709770203},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5444716811180115},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.5128848552703857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4743995666503906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.387542724609375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3803909420967102},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2820766568183899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13020256161689758},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06537520885467529},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/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/robot.2010.5509910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"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":11,"referenced_works":["https://openalex.org/W67105602","https://openalex.org/W189082263","https://openalex.org/W1532777843","https://openalex.org/W1551642959","https://openalex.org/W2079766748","https://openalex.org/W2083225851","https://openalex.org/W2100866881","https://openalex.org/W2105423218","https://openalex.org/W2117796671","https://openalex.org/W3083704693","https://openalex.org/W4206027195"],"related_works":["https://openalex.org/W157833000","https://openalex.org/W2322445202","https://openalex.org/W2622353329","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"],"abstract_inverted_index":{"Bilateral":[0],"Control":[1],"by":[2,52,93,102],"States":[3],"Convergence":[4],"is":[5,86],"a":[6,62,69,104,120,164,190],"novel":[7],"and":[8,49,127,170],"little":[9],"exploited":[10],"control":[11,38,97,145,180,195],"strategy":[12,39,73],"that":[13],"has":[14,134,154],"been":[15,135],"successfully":[16],"applied":[17,136],"to":[18,74,138,149,156,160],"the":[19,29,33,47,50,54,58,81,89,94,143,147,150,158,161,178,182,194],"teleoperation":[20,162],"of":[21,36,44,57,71,106,163,193],"robotic":[22],"manipulators":[23,139],"using":[24],"SISO":[25],"control.":[26],"Based":[27],"on":[28],"state":[30,95],"space":[31],"representation,":[32],"main":[34],"philosophy":[35],"this":[37,72],"consists":[40],"in":[41,80],"achieving":[42],"convergence":[43,96],"states":[45,126],"between":[46],"master":[48],"slave,":[51],"setting":[53],"dynamical":[55],"behavior":[56],"master-slave":[59,82],"error":[60],"as":[61],"states-independent":[63],"autonomous":[64],"system.":[65],"This":[66],"paper":[67],"presents":[68],"generalization":[70],"MIMO":[75,152],"systems,":[76],"with":[77,122],"time":[78],"delay":[79],"communication":[83],"channels.":[84],"It":[85],"demonstrated":[87],"how":[88],"feedback":[90],"gains":[91],"required":[92],"schema":[98],"can":[99],"be":[100],"found":[101],"solving":[103],"set":[105],"((m":[107],"\u00d7":[108,112],"n)":[109],"+":[110,114],"(m":[111],"m)":[113],"n":[115,125],")":[116],"nonlinear":[117],"equations":[118],"for":[119,142,174],"system":[121],"m":[123,128],"inputs,":[124],"outputs.":[129],"Unlike":[130],"previous":[131],"research,":[132],"which":[133],"only":[137],"considering":[140],"1-DOF":[141],"states-convergence":[144,179],"loop,":[146],"extension":[148],"general":[151],"case":[153],"allowed":[155],"apply":[157],"technique":[159],"2-DOF":[165],"helicopter.":[166],"A":[167],"decoupling":[168],"network":[169],"states-feedback":[171],"are":[172,187],"used":[173],"local":[175],"control,":[176],"while":[177],"manages":[181],"bilateral":[183],"issues.":[184],"Simulation":[185],"results":[186],"presented,":[188],"showing":[189],"satisfactory":[191],"performance":[192],"strategy.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}