{"id":"https://openalex.org/W2624783149","doi":"https://doi.org/10.1109/tcst.2017.2709266","title":"Formation Control of Teleoperating Cyber-Physical System With Time Delay and Actuator Saturation","display_name":"Formation Control of Teleoperating Cyber-Physical System With Time Delay and Actuator Saturation","publication_year":2017,"publication_date":"2017-06-13","ids":{"openalex":"https://openalex.org/W2624783149","doi":"https://doi.org/10.1109/tcst.2017.2709266","mag":"2624783149"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2709266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2709266","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5101511054","display_name":"Jing Yan","orcid":"https://orcid.org/0000-0001-7768-5720"},"institutions":[{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]},{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jing Yan","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029213376","display_name":"Yan Wan","orcid":"https://orcid.org/0000-0002-7508-5833"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wan","raw_affiliation_strings":["Department of Electrical Engineering, University of Texas at Arlington, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Texas at Arlington, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038267080","display_name":"Cailian Chen","orcid":"https://orcid.org/0000-0001-6533-8713"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cailian Chen","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100690710","display_name":"Xinping Guan","orcid":"https://orcid.org/0009-0006-6233-8762"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinping Guan","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101511054"],"corresponding_institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"],"apc_list":null,"apc_paid":null,"fwci":4.5479,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.94898254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"26","issue":"4","first_page":"1458","last_page":"1467"},"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.9842000007629395,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9620000123977661,"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/actuator","display_name":"Actuator","score":0.6443409323692322},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.6397459506988525},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6378313302993774},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5416043996810913},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5201261639595032},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5168083906173706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5158626437187195},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49822044372558594},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.446435809135437},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.44622865319252014},{"id":"https://openalex.org/keywords/physical-system","display_name":"Physical system","score":0.4328123927116394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4094850420951843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3403635621070862},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31293627619743347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21545827388763428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1156606376171112}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6443409323692322},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.6397459506988525},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6378313302993774},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5416043996810913},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5201261639595032},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5168083906173706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5158626437187195},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49822044372558594},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.446435809135437},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.44622865319252014},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.4328123927116394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4094850420951843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3403635621070862},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31293627619743347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21545827388763428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1156606376171112},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2017.2709266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2709266","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4958835091","display_name":null,"funder_award_id":"61503320","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5377198795","display_name":null,"funder_award_id":"2015M570235","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6866470351","display_name":null,"funder_award_id":"61375105","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8413303541","display_name":null,"funder_award_id":"2016T90214","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W246666880","https://openalex.org/W1811949033","https://openalex.org/W1965555825","https://openalex.org/W1967390389","https://openalex.org/W1972201437","https://openalex.org/W2017383088","https://openalex.org/W2029372162","https://openalex.org/W2037686415","https://openalex.org/W2045128517","https://openalex.org/W2056876648","https://openalex.org/W2106946847","https://openalex.org/W2121461996","https://openalex.org/W2132115057","https://openalex.org/W2135154992","https://openalex.org/W2135178826","https://openalex.org/W2165909293","https://openalex.org/W2175431616","https://openalex.org/W2267025876","https://openalex.org/W2274304191","https://openalex.org/W2500146833","https://openalex.org/W2509590593","https://openalex.org/W2560799809","https://openalex.org/W4210939600","https://openalex.org/W4237677567","https://openalex.org/W4238591275","https://openalex.org/W6664728958"],"related_works":["https://openalex.org/W2994120531","https://openalex.org/W2108326965","https://openalex.org/W2086962923","https://openalex.org/W2756692340","https://openalex.org/W3099113830","https://openalex.org/W4229048927","https://openalex.org/W190251865","https://openalex.org/W3017360834","https://openalex.org/W2133522624","https://openalex.org/W4301217304"],"abstract_inverted_index":{"Teleoperating":[0],"cyber-physical":[1],"system":[2],"(TCPS)":[3],"is":[4,52,148],"referred":[5],"to":[6,11,17,28,44,63,80,95,108],"as":[7],"a":[8,30,47,55,77,120],"promising":[9],"technology":[10],"extend":[12],"human":[13,144],"actions":[14],"and":[15,26,36,69,86,127,136,146,153,159],"intelligences":[16],"remote":[18],"locations.":[19],"Many":[20],"applications":[21],"of":[22,84,112,122],"TCPS":[23,40],"demand":[24],"operator":[25,145],"slaves":[27],"keep":[29],"desired":[31],"formation.":[32],"However,":[33],"the":[34,82,98,103,110,114,129],"cyber-":[35],"physical-constrained":[37],"characteristics":[38],"on":[39],"make":[41],"it":[42],"challenging":[43],"achieve":[45],"such":[46],"formation":[48,56,83,99],"task.":[49],"This":[50],"brief":[51],"concerned":[53],"with":[54],"control":[57],"problem":[58],"for":[59,91,134,157],"multislave":[60],"TCPS,":[61],"subject":[62],"time-varying":[64],"delays":[65],"in":[66,72],"cyber":[67],"channels":[68],"actuator":[70],"saturation":[71],"physical":[73],"channels.":[74],"We":[75],"design":[76],"decentralized":[78],"controller":[79,100],"enforce":[81],"master":[85,135],"slave":[87],"robots.":[88],"Sufficient":[89],"conditions":[90,116,133],"stability":[92,115,132],"are":[93,117,138,155],"provided":[94],"show":[96],"that":[97],"can":[101],"stabilize":[102],"master-slave":[104],"TCPS.":[105],"In":[106],"order":[107],"estimate":[109],"domain":[111],"attraction,":[113],"rearranged":[118],"into":[119],"form":[121],"linear":[123],"matrix":[124],"inequalities":[125],"(LMIs),":[126],"then,":[128],"required":[130],"initial":[131],"salves":[137],"developed.":[139],"The":[140],"transparent":[141],"interaction":[142],"between":[143],"environment":[147],"also":[149],"provided.":[150],"Finally,":[151],"simulations":[152],"experiments":[154],"performed":[156],"illustration":[158],"validation":[160],"purposes.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
