{"id":"https://openalex.org/W2986127088","doi":"https://doi.org/10.1109/tcst.2019.2948126","title":"Multilateral Teleoperation Over Communication Time Delay Using the Time-Domain Passivity Approach","display_name":"Multilateral Teleoperation Over Communication Time Delay Using the Time-Domain Passivity Approach","publication_year":2019,"publication_date":"2019-11-11","ids":{"openalex":"https://openalex.org/W2986127088","doi":"https://doi.org/10.1109/tcst.2019.2948126","mag":"2986127088"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2948126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2948126","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/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057544322","display_name":"Quang Ha-Van","orcid":"https://orcid.org/0000-0003-0764-9665"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Quang Ha-Van","raw_affiliation_strings":["Department of Computer Science, University of Innsbruck, Innsbruck, Austria"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Innsbruck, Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050651177","display_name":"Aghil Jafari","orcid":"https://orcid.org/0000-0002-7643-1822"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aghil Jafari","raw_affiliation_strings":["Faculty of Environment and Technology, University of the West of England, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"Faculty of Environment and Technology, University of the West of England, Bristol, U.K","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019438521"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.0397,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.85679455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"28","issue":"6","first_page":"2705","last_page":"2712"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9415000081062317,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8945108652114868},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8646157383918762},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.6089320182800293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360397100448608},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5277655124664307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24365612864494324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11706319451332092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.076636403799057}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8945108652114868},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8646157383918762},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.6089320182800293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360397100448608},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5277655124664307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24365612864494324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11706319451332092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.076636403799057},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"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/tcst.2019.2948126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2948126","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":[{"display_name":"Affordable and clean energy","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2008489673","https://openalex.org/W2050203543","https://openalex.org/W2059150255","https://openalex.org/W2059512100","https://openalex.org/W2078480008","https://openalex.org/W2096488507","https://openalex.org/W2098393146","https://openalex.org/W2099914424","https://openalex.org/W2116612182","https://openalex.org/W2120489973","https://openalex.org/W2141131207","https://openalex.org/W2158101797","https://openalex.org/W2159136263","https://openalex.org/W2560970536","https://openalex.org/W3144507692","https://openalex.org/W4214690803","https://openalex.org/W6683018355"],"related_works":["https://openalex.org/W2046994655","https://openalex.org/W2132980426","https://openalex.org/W2166083889","https://openalex.org/W1990833701","https://openalex.org/W2986127088","https://openalex.org/W1989580197","https://openalex.org/W2050694847","https://openalex.org/W2065132168","https://openalex.org/W1538874856","https://openalex.org/W854303137"],"abstract_inverted_index":{"A":[0,129],"general":[1],"framework":[2,27],"to":[3,61,70,79,108,124,138,163],"stabilize":[4],"multilateral":[5,41,52,85,151],"teleoperation":[6,86,146,152],"system":[7,53,147,153],"over":[8],"a":[9,99,144,150,155],"communication":[10,37],"time":[11,38,115],"delay":[12,116],"based":[13],"on":[14],"the":[15,34,40,45,66,71,80,84,114,140,165],"well-known":[16],"time-domain":[17],"passivity":[18,118],"approach":[19],"(TDPA)":[20],"is":[21,28,31],"proposed.":[22],"The":[23,51,88],"uniqueness":[24],"of":[25,33,36,47,83],"this":[26],"that":[29],"it":[30],"independent":[32],"amount":[35],"delay,":[39],"control":[42],"architecture,":[43],"and":[44,49,117,148,158],"number":[46],"masters":[48],"slaves.":[50],"was":[54,75,106,122,136],"first":[55],"decoupled":[56,89],"into":[57,94],"subsystems":[58,90],"with":[59,133,143,149,154],"respect":[60],"each":[62],"terminal":[63],"by":[64],"identifying":[65],"input":[67],"signals'":[68],"contributions":[69],"output":[72],"terminals,":[73],"which":[74],"not":[76],"straightforward":[77],"due":[78],"coupled":[81],"nature":[82],"system.":[87],"were":[91,161],"then":[92],"converted":[93],"an":[95],"electrical":[96],"circuit":[97],"using":[98],"mechanical-electrical":[100],"analogy.":[101],"Time-delay":[102],"power":[103],"network":[104],"(TDPN)":[105],"introduced":[107],"clarify":[109],"active":[110,127],"energy":[111],"sources":[112],"from":[113],"observer/passivity":[119],"controller":[120],"(PO/PC)":[121],"utilized":[123],"dissipate":[125],"those":[126],"energies.":[128],"less-conservative":[130],"method":[131],"compared":[132],"prior":[134],"work":[135],"proposed":[137,166],"guarantee":[139],"stability.":[141],"Experiments":[142],"trilateral":[145],"dual":[156,159],"master":[157],"slave":[160],"conducted":[162],"validate":[164],"framework.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}