{"id":"https://openalex.org/W2913639712","doi":"https://doi.org/10.1109/tie.2019.2898587","title":"Adaptive Fuzzy Backstepping Control for Stable Nonlinear Bilateral Teleoperation Manipulators With Enhanced Transparency Performance","display_name":"Adaptive Fuzzy Backstepping Control for Stable Nonlinear Bilateral Teleoperation Manipulators With Enhanced Transparency Performance","publication_year":2019,"publication_date":"2019-02-15","ids":{"openalex":"https://openalex.org/W2913639712","doi":"https://doi.org/10.1109/tie.2019.2898587","mag":"2913639712"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2898587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2898587","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100370688","display_name":"Zheng Chen","orcid":"https://orcid.org/0000-0003-0961-8758"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheng Chen","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082776220","display_name":"Fanghao Huang","orcid":"https://orcid.org/0000-0003-3710-114X"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanghao Huang","raw_affiliation_strings":["Ocean College, Zhejiang University, Zhoushan, China"],"affiliations":[{"raw_affiliation_string":"Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100586121","display_name":"Chunning Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunning Yang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100757931","display_name":"Bin Yao","orcid":"https://orcid.org/0000-0003-3142-4570"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Yao","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100370688"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":20.9849,"has_fulltext":false,"cited_by_count":220,"citation_normalized_percentile":{"value":0.99824313,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"67","issue":"1","first_page":"746","last_page":"756"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9476000070571899,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9320999979972839,"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":0.9149114489555359},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7468987107276917},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6376742124557495},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5713733434677124},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5520027875900269},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5313193202018738},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.49848484992980957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4783037304878235},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4608101546764374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45213431119918823},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44011086225509644},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41277819871902466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27369552850723267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1368604302406311},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09575924277305603}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9149114489555359},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7468987107276917},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6376742124557495},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5713733434677124},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5520027875900269},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5313193202018738},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.49848484992980957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4783037304878235},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4608101546764374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45213431119918823},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44011086225509644},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41277819871902466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27369552850723267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1368604302406311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09575924277305603},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2898587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2898587","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5462832004","display_name":null,"funder_award_id":"61603332","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7728847339","display_name":null,"funder_award_id":"LY19E050016","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1651179372","https://openalex.org/W1956580242","https://openalex.org/W1965214787","https://openalex.org/W1967390389","https://openalex.org/W1971374550","https://openalex.org/W1987118475","https://openalex.org/W1992424855","https://openalex.org/W1995063639","https://openalex.org/W2007775256","https://openalex.org/W2025006326","https://openalex.org/W2080529541","https://openalex.org/W2088680241","https://openalex.org/W2090017676","https://openalex.org/W2109465348","https://openalex.org/W2116376861","https://openalex.org/W2119976842","https://openalex.org/W2124237013","https://openalex.org/W2151225782","https://openalex.org/W2155405623","https://openalex.org/W2158828654","https://openalex.org/W2159851305","https://openalex.org/W2162866111","https://openalex.org/W2170683129","https://openalex.org/W2204281870","https://openalex.org/W2241323601","https://openalex.org/W2287940679","https://openalex.org/W2332262654","https://openalex.org/W2342610385","https://openalex.org/W2342926333","https://openalex.org/W2343590012","https://openalex.org/W2343736713","https://openalex.org/W2433282201","https://openalex.org/W2491388840","https://openalex.org/W2516758864","https://openalex.org/W2536318021","https://openalex.org/W2553135278","https://openalex.org/W2561111412","https://openalex.org/W2566315923","https://openalex.org/W2607112850","https://openalex.org/W2698548017","https://openalex.org/W2760855057","https://openalex.org/W2761986455","https://openalex.org/W2764035193","https://openalex.org/W2792561954","https://openalex.org/W2794110755"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2771027241","https://openalex.org/W2048862765","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W3201063403","https://openalex.org/W2115512691","https://openalex.org/W2162992672","https://openalex.org/W2792368061"],"abstract_inverted_index":{"Bilateral":[0],"teleoperation":[1,24,55,111],"technology":[2],"has":[3],"been":[4],"widely":[5],"concerned":[6],"by":[7],"its":[8],"unique":[9],"advantages":[10,189],"in":[11,23,98,108,118,128,195],"human-machine":[12],"interaction-based":[13],"cooperative":[14],"operation":[15],"systems.":[16],"Communication":[17],"delay,":[18],"various":[19],"nonlinearities,":[20],"and":[21,35,103,122,140,149,160,166,188],"uncertainties":[22],"system":[25,33],"are":[26,80,142,178],"the":[27,59,63,74,83,93,99,105,109,119,129,147,152,167,181,186,191],"main":[28],"challenging":[29],"issues":[30],"to":[31,57,82,145],"achieve":[32],"stability":[34,169],"good":[36],"transparency":[37,154],"performance.":[38],"In":[39],"this":[40],"paper,":[41],"a":[42,123],"globally":[43],"stable":[44],"adaptive":[45,134],"fuzzy":[46,135],"backstepping":[47,136],"control":[48,193],"design":[49,194],"is":[50,116,126,170],"proposed":[51,192],"for":[52,86,138],"nonlinear":[53,133],"bilateral":[54],"manipulators":[56],"handle":[58,146],"aforementioned":[60],"issues.":[61],"For":[62],"communication":[64,101,174],"channel,":[65],"instead":[66],"of":[67,70,95,156,190],"direct":[68],"transmission":[69,94],"environmental":[71,78,87],"torque":[72,88],"signals,":[73],"fuzzy-based":[75],"nonpower":[76],"approximate":[77],"parameters":[79],"transmitted":[81],"master":[84,120,139],"side":[85,121],"prediction,":[89],"which":[90,184],"effectively":[91],"avoids":[92],"power":[96],"signals":[97],"delayed":[100],"channel":[102],"solves":[104],"passivity":[106],"problem":[107],"traditional":[110],"system.":[112],"A":[113],"trajectory":[114,124],"generator":[115],"implemented":[117],"smoothing":[125],"applied":[127],"slave":[130,141],"side.":[131],"Subsequently,":[132],"controllers":[137],"separately":[143],"designed":[144],"nonlinearities":[148],"uncertainties.":[150],"Theoretically,":[151],"great":[153],"performance":[155],"both":[157],"position":[158],"tracking":[159],"force":[161],"feedback":[162],"can":[163],"be":[164],"achieved,":[165],"global":[168],"still":[171],"guaranteed":[172],"under":[173],"delay.":[175],"Comparative":[176],"experiments":[177],"conducted":[179],"on":[180],"real":[182],"platform,":[183],"verify":[185],"effectiveness":[187],"some":[196],"typical":[197],"working":[198],"scenarios.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":40},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":41},{"year":2019,"cited_by_count":21}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}