{"id":"https://openalex.org/W4391092680","doi":"https://doi.org/10.1109/tase.2024.3351157","title":"A USDE-Based Control for Bilateral Teleoperation Systems With Time-Varying Delays","display_name":"A USDE-Based Control for Bilateral Teleoperation Systems With Time-Varying Delays","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391092680","doi":"https://doi.org/10.1109/tase.2024.3351157"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3351157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3351157","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5071785646","display_name":"Baorui Jing","orcid":"https://orcid.org/0000-0001-9248-4177"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baorui Jing","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008377523","display_name":"Jing Na","orcid":"https://orcid.org/0000-0002-3067-1580"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Na","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073634589","display_name":"Hao Duan","orcid":"https://orcid.org/0009-0000-5674-0874"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Duan","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100352398","display_name":"Xian Wang","orcid":"https://orcid.org/0000-0001-7793-9954"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xian Wang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060784234","display_name":"Yingbo Huang","orcid":"https://orcid.org/0000-0001-9390-2369"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingbo Huang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Yunnan Key Laboratory of Intelligent Control and Application, and the Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5071785646"],"corresponding_institution_ids":["https://openalex.org/I10660446"],"apc_list":null,"apc_paid":null,"fwci":2.6593,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.89116037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"407","last_page":"417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9929999709129333,"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":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8414555191993713},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5316038131713867},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49940919876098633},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49261361360549927},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4903164207935333},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4128808081150055},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40438640117645264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3910538852214813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33061957359313965},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25285184383392334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16749092936515808}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8414555191993713},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5316038131713867},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49940919876098633},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49261361360549927},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4903164207935333},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4128808081150055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40438640117645264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3910538852214813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33061957359313965},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25285184383392334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16749092936515808},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3351157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3351157","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[{"id":"https://openalex.org/G353058601","display_name":null,"funder_award_id":"61922037","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6020981496","display_name":null,"funder_award_id":"62273169","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7198406823","display_name":null,"funder_award_id":"61873115","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1825246520","https://openalex.org/W1844544975","https://openalex.org/W1965361141","https://openalex.org/W1974731485","https://openalex.org/W1977088290","https://openalex.org/W1994183344","https://openalex.org/W2009529220","https://openalex.org/W2040555760","https://openalex.org/W2055015486","https://openalex.org/W2059881326","https://openalex.org/W2105369176","https://openalex.org/W2118166401","https://openalex.org/W2120489973","https://openalex.org/W2121363846","https://openalex.org/W2122895826","https://openalex.org/W2124237013","https://openalex.org/W2132089494","https://openalex.org/W2135493101","https://openalex.org/W2161807223","https://openalex.org/W2162672874","https://openalex.org/W2167808181","https://openalex.org/W2171649388","https://openalex.org/W2536060554","https://openalex.org/W2543692144","https://openalex.org/W2625090726","https://openalex.org/W2698548017","https://openalex.org/W2744708603","https://openalex.org/W2791181793","https://openalex.org/W2795436790","https://openalex.org/W2969389620","https://openalex.org/W2984955589","https://openalex.org/W2996200817","https://openalex.org/W3174812302","https://openalex.org/W3200270133","https://openalex.org/W4248049034","https://openalex.org/W4303520742","https://openalex.org/W4376623500"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866","https://openalex.org/W2013463538"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,221],"simple":[4,135],"but":[5],"effective":[6],"control":[7,100,133,211,223,284],"scheme":[8],"is":[9,32,56,76,102],"proposed":[10,130,158],"for":[11,65,83],"bilateral":[12],"teleoperation":[13,166],"systems":[14,167],"with":[15],"variable":[16,232],"communication":[17,201],"time-delays.":[18],"The":[19,54,70,95],"robotic":[20],"models":[21],"are":[22,52,150,168,295],"first":[23],"reformulated":[24],"and":[25,48,92,107,118,132,137,147,178,200,205,216,231,253,259,263,282,293],"an":[26],"unknown":[27,228],"system":[28,75,229],"dynamics":[29,230],"estimator":[30],"(USDE)":[31],"constructed":[33],"to":[34,63,152,163,297],"estimate":[35],"the":[36,41,60,66,73,80,115,125,129,154,157,192,210,236,240,245,260,273,299],"lumped":[37],"uncertainties":[38],"without":[39,234],"using":[40,235],"accelerations,":[42],"where":[43,181],"only":[44],"low-pass":[45],"filtering":[46],"operations":[47],"trivial":[49],"algebraic":[50],"calculations":[51],"used.":[53],"USDE":[55,131],"then":[57],"incorporated":[58],"into":[59],"controller":[61],"design":[62],"compensate":[64],"effects":[67],"of":[68,72,156],"uncertainties.":[69],"stability":[71,242],"closed-loop":[74],"rigorously":[77],"proven":[78],"via":[79],"Lyapunov":[81],"theorem":[82],"all":[84,244],"three":[85,246],"motion":[86,117,247,252,255],"states:":[87,248],"free":[88,249],"motion,":[89,91,250],"tracking":[90,116,251],"contact":[93,126,254],"motion.":[94,127],"salient":[96],"feature":[97],"over":[98],"traditional":[99],"strategies":[101],"that":[103,225],"apart":[104],"from":[105],"position":[106,262],"velocity":[108,264],"synchronization,":[109,214],"compliance":[110,215],"can":[111,121,226,256,267],"be":[112,122,257,268],"guaranteed":[113],"in":[114,124,171,191,243],"force":[119],"transparency":[120],"obtained":[123],"Moreover,":[128],"have":[134],"structures":[136],"less":[138,279],"parameters,":[139],"which":[140],"facilitate":[141],"their":[142],"practical":[143,288],"application.":[144],"Both":[145],"simulation":[146,292],"experimental":[148],"results":[149],"presented":[151],"demonstrate":[153],"effectiveness":[155],"methods.":[159],"<italic":[160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[162],"Practitioners</i>":[164],"\u2014Bilateral":[165],"widely":[169],"used":[170],"nuclear":[172],"science,":[173],"space":[174],"research,":[175],"telesurgery,":[176],"microassembly":[177],"other":[179],"fields,":[180],"human":[182],"or":[183],"unmanned":[184],"robotics":[185,207],"cannot":[186],"perform":[187],"certain":[188,274],"tasks.":[189],"However,":[190],"teleoperation,":[193],"several":[194],"factors":[195],"such":[196],"as":[197],"external":[198],"forces":[199],"delays":[202],"between":[203],"local":[204],"remote":[206],"will":[208],"affect":[209],"performance,":[212],"e.g.,":[213],"transparency.":[217],"This":[218,270],"paper":[219],"proposes":[220],"USDE-based":[222],"method":[224,271],"handle":[227],"time-delays":[233],"acceleration":[237],"signals,":[238],"while":[239],"system\u2019s":[241],"retained,":[258],"corresponding":[261],"synchronization":[265],"objectives":[266],"achieved.":[269],"has":[272],"advantages":[275],"including":[276],"simpler":[277],"structures,":[278],"tuning":[280],"parameters":[281],"better":[283],"performances,":[285],"facilitating":[286],"its":[287],"applications.":[289],"Finally,":[290],"both":[291],"experiments":[294],"illustrated":[296],"verify":[298],"theoretical":[300],"claims.":[301]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
