{"id":"https://openalex.org/W7124138988","doi":"https://doi.org/10.1109/tcyb.2026.3650844","title":"Event-Triggered Predefined-Time Sensorless Prescribed and Personalized Compliant Performance Control for Teleoperation Systems","display_name":"Event-Triggered Predefined-Time Sensorless Prescribed and Personalized Compliant Performance Control for Teleoperation Systems","publication_year":2026,"publication_date":"2026-01-14","ids":{"openalex":"https://openalex.org/W7124138988","doi":"https://doi.org/10.1109/tcyb.2026.3650844","pmid":"https://pubmed.ncbi.nlm.nih.gov/41533604"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2026.3650844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3650844","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5123043751","display_name":"Longnan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longnan Li","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0006-9732-5486","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069981812","display_name":"Shaofan Guo","orcid":"https://orcid.org/0000-0002-1830-3021"},"institutions":[{"id":"https://openalex.org/I4210141776","display_name":"China XD Group (China)","ror":"https://ror.org/04ceqst84","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210141776"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaofan Guo","raw_affiliation_strings":["Institute of Xi&#x2019;an Aerospace Solid Propulsion Technology, Xi&#x2019;an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Xi&#x2019;an Aerospace Solid Propulsion Technology, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I4210141776"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074004119","display_name":"Lanyong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lanyong Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2683-2732","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3899,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88429478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"56","issue":"6","first_page":"3235","last_page":"3248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9417999982833862,"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":0.9417999982833862,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.03680000081658363,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.004900000058114529,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.796500027179718},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6942999958992004},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.650600016117096},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4968999922275543},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4921000003814697},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.45910000801086426},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4496000111103058},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4406999945640564},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43639999628067017}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.796500027179718},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6942999958992004},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.650600016117096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267000198364258},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4968999922275543},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4921000003814697},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.45910000801086426},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43639999628067017},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38179999589920044},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37959998846054077},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.36480000615119934},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.349700003862381},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3100999891757965},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C133833761","wikidata":"https://www.wikidata.org/wiki/Q16001847","display_name":"Admittance parameters","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2872999906539917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C2778915421","wikidata":"https://www.wikidata.org/wiki/Q3643177","display_name":"Performance improvement","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.25769999623298645}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2026.3650844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3650844","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:41533604","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41533604","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8043762445449829,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3115782849","display_name":null,"funder_award_id":"233072024CFJ0401","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6661788989","display_name":null,"funder_award_id":"SKLRS-2023-KF-17","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G8992687533","display_name":null,"funder_award_id":"62203133","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"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,19],"this":[1],"study,":[2],"we":[3],"develop":[4],"an":[5,150],"event-triggered":[6,78,89,151],"predefined-time":[7,26,71,74,90,155],"sensorless":[8],"prescribed":[9],"and":[10,33,44,77,83,157,181,193,202],"personalized":[11],"compliant":[12,182],"performance":[13,75,177,183],"control":[14,46,91,137,190],"scheme":[15,93,97],"for":[16,178,184],"teleoperation":[17],"systems.":[18],"the":[20,41,45,55,64,69,87,103,117,124,139,163,168,189,200,205],"absence":[21],"of":[22,116,141,161,204],"force/torque":[23],"sensors,":[24],"a":[25,49,108,112,142,158,172],"torque":[27],"behavior":[28],"estimator":[29],"(PTTBE)":[30],"is":[31,61,94],"designed,":[32],"its":[34],"estimated":[35],"values":[36],"are":[37,127,195],"applied":[38],"to":[39,54,107,154,198],"both":[40],"admittance":[42,65,146],"structure":[43],"law.":[47],"Then,":[48],"variable":[50,143,159],"stiffness":[51,144],"parameter":[52,145],"related":[53,153],"operator's":[56,164],"surface":[57],"electromyography":[58],"(sEMG)":[59],"signal":[60],"incorporated":[62],"into":[63],"structure.":[66],"By":[67],"integrating":[68],"PTTBE,":[70],"sliding":[72],"manifold,":[73],"function,":[76],"mechanism":[79,152],"involving":[80],"time-scaling,":[81],"error-scaling,":[82],"muscle":[84],"activation-scaling":[85],"functions,":[86],"PTTBE-based":[88],"(PTTBE-ETPTC)":[92],"proposed.":[95],"This":[96],"ensures":[98],"that":[99,123],"not":[100,128],"only":[101],"does":[102],"tracking":[104,136,176],"error":[105,125],"converge":[106],"residual":[109],"set":[110],"within":[111],"predefined":[113],"time":[114],"regardless":[115],"system's":[118,169],"initial":[119],"state,":[120],"but":[121],"also":[122],"constraints":[126],"violated":[129],"at":[130],"any":[131],"time.":[132],"Compared":[133],"with":[134,149],"existing":[135],"methods,":[138],"introduction":[140],"structure,":[147],"along":[148],"parameters":[156],"capable":[160],"reflecting":[162],"intention,":[165],"greatly":[166],"enhances":[167],"flexibility,":[170],"enabling":[171],"favorable":[173],"balance":[174],"between":[175],"free":[179],"motion":[180],"interaction/contact":[185],"situations":[186],"while":[187],"reducing":[188],"frequency.":[191],"Simulations":[192],"experiments":[194],"carried":[196],"out":[197],"demonstrate":[199],"effectiveness":[201],"practicality":[203],"developed":[206],"PTTBE-ETPTC":[207],"scheme.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-01-15T00:00:00"}
