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International Journal of Control Volume 76, 2003 - Issue 8
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Original Articles

Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach

I. G. Polushin Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada; CCS Laboratory, Institute for Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia
&
H. J. Marquez Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada
Pages 858-870 | Published online: 08 Nov 2010

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Yuling Li, Kai Zhang, Kun Liu, Rolf Johansson & Yixin Yin. (2021) Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol. International Journal of Control 94:6, pages 1461-1474.
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Xian Yang, Jing Yan, Changchun Hua & Xinping Guan. (2019) Stabilisation for teleoperation systems with sampled-data information feedback. International Journal of Control 92:9, pages 2201-2209.
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Afshin Javid & Mohammad Ali Nekoui. (2019) Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics. Cogent Engineering 6:1.
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Yuling Li, Rolf Johansson & Yixin Yin. (2015) Acceleration feedback control for nonlinear teleoperation systems with time delays. International Journal of Control 88:3, pages 507-516.
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Ashkan Rashvand, Mohammad Javad Ahmadi, Mohammad Motaharifar, Mahdi Tavakoli & Hamid D. Taghirad. (2021) Adaptive Robust Impedance Control of Haptic Systems for Skill Transfer. Adaptive Robust Impedance Control of Haptic Systems for Skill Transfer.
Robab Ebrahimi Bavili, Ahmad Akbari & Reza Mahboobi Esfanjani. (2021) Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault. Journal of Control 14:4, pages 43-54.
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Amir A. Ghavifekr, Amir R. Ghiasi, Mohammad Ali Badamchizadeh & Farzad Hashemzadeh. (2020) Exponential stability of bilateral sampled-data teleoperation systems using multirate approach. ISA Transactions 105, pages 190-197.
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Yuling Li, Kun Liu, Wei He, Yixin Yin, Rolf Johansson & Kai Zhang. (2020) Bilateral Teleoperation of Multiple Robots Under Scheduling Communication. IEEE Transactions on Control Systems Technology 28:5, pages 1770-1784.
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Robab Ebrahimi Bavili, Ahmad Akbari & Reza Mahboobi Esfanjani. (2020) Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces. Intelligent Service Robotics 13:3, pages 419-437.
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Mohammad Motaharifar, Hamid Taghirad & Seyed-Farzad Mohammadi. (2020) A Robust Controller with Online Authority Transformation for Dual User Haptic Training System. Journal of Control 14:2, pages 63-77.
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Mohammad Motaharifar & Hamid D. Taghirad. (2020) A force reflection robust control scheme with online authority adjustment for dual user haptic system. Mechanical Systems and Signal Processing 135, pages 106368.
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Amir Aminzadeh Ghavifekr, Seyedshahab Chehraghi & Giacomo De Rossi. (2019) An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems. An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems.
Xiao Xu, Qian Liu & Eckehard Steinbach. (2019) Haptic Data Reduction for Time-delayed Teleoperation Using the Input-to-State Stability Approach. Haptic Data Reduction for Time-delayed Teleoperation Using the Input-to-State Stability Approach.
Hiroshi Ito. (2019) A geometrical formulation to unify construction of Lyapunov functions for interconnected iISS systems. Annual Reviews in Control 48, pages 195-208.
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Saba Al-Wais, Reza Mohajerpoor, Lakshmanan Shanmugam, Hamid Abdi & Saeid Nahavandi. (2018) Improved Delay-Dependent Stability Criteria for Telerobotic Systems With Time-Varying Delays. IEEE Transactions on Systems, Man, and Cybernetics: Systems 48:12, pages 2470-2484.
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Afshin Javid & Mohammad ali Nekoui. (2018) An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics. An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics.
Amir A. Ghavifekr, Amir R. Ghiasi, Mohammad A. Badamchizadeh, Farzad Hashemzadeh & Paolo Fiorini. (2018) Stability analysis of the linear discrete teleoperation systems with stochastic sampling and data dropout. European Journal of Control 41, pages 63-71.
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Amir Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi & Mohammad Ali Badamchizadeh. (2017) Discrete-time control of bilateral teleoperation systems: a review. Robotica 36:4, pages 552-569.
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Yuling Li, Yixin Yin & Dezheng Zhang. (2018) IMC-based Design for Teleoperation Systems with Time Delays. International Journal of Control, Automation and Systems 16:2, pages 887-895.
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Di-Hua Zhai & Yuanqing Xia. (2017) Multilateral Telecoordinated Control of Multiple Robots With Uncertain Kinematics. IEEE Transactions on Neural Networks and Learning Systems, pages 1-15.
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Di-Hua Zhai & Yuanqing Xia. (2016) Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach. International Journal of Robust and Nonlinear Control 26:17, pages 3696-3722.
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Di-Hua Zhai & Yuanqing Xia. (2016) Adaptive Control for Teleoperation System With Varying Time Delays and Input Saturation Constraints. IEEE Transactions on Industrial Electronics 63:11, pages 6921-6929.
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Soheil Gholami, Arash Arjmandi & Hamid D. Taghirad. (2016) An observer-based adaptive impedance-control for robotic arms: Case study in SMOS robot. An observer-based adaptive impedance-control for robotic arms: Case study in SMOS robot.
Yuling Li & Yixin Yin. (2015) Acceleration feedback control for teleoperation systems with asymmetric time-varying delays. Acceleration feedback control for teleoperation systems with asymmetric time-varying delays.
Yuling Li, Rolf Johansson, Kun Liu & Yixin Yin. (2015) Guaranteed cost control design for delayed teleoperation systems. Journal of the Franklin Institute 352:11, pages 5085-5105.
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Di-Hua Zhai & Yuanqing Xia. (2015) Robust saturation-based control of bilateral teleoperation without velocity measurements. International Journal of Robust and Nonlinear Control 25:15, pages 2582-2607.
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H. Shokri-Ghaleh & A. Alfi. (2014) Optimal synchronization of teleoperation systems via cuckoo optimization algorithm. Nonlinear Dynamics 78:4, pages 2359-2376.
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Hamid Shokri-Ghaleh & Alireza Alfi. (2014) A comparison between optimization algorithms applied to synchronization of bilateral teleoperation systems against time delay and modeling uncertainties. Applied Soft Computing 24, pages 447-456.
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Emmanuel Nuño, Luis Basañez & Romeo Ortega. (2011) Passivity-based control for bilateral teleoperation: A tutorial. Automatica 47:3, pages 485-495.
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Emmanuel Nuño, Luis Basañez, Romeo Ortega & Guillermo Obregón-Pulido. (2010) Position tracking using adaptive control for bilateral teleoperators with time-delays. Position tracking using adaptive control for bilateral teleoperators with time-delays.
Nima Yeganefar, Pierdomenico Pepe & Michel Dambrine. (2008) Input-to-State Stability of Time-Delay Systems: A Link With Exponential Stability. IEEE Transactions on Automatic Control 53:6, pages 1526-1531.
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Nima Yeganefar, Pierdomenico Pepe & Michel Dambrine. (2007) Input-to-State Stability and exponential stability for time-delay systems: further results. Input-to-State Stability and exponential stability for time-delay systems: further results.
Rogelio Lozano, Nikhil Chopra & Mark W. Spong. (2007) Convergence Analysis of Bilateral Teleoperation with Constant Human Input. Convergence Analysis of Bilateral Teleoperation with Constant Human Input.
Nima Yeganefar, Michel Dambrine & Nader Yeganefar. (2007) Relation between Exponential Stability and Input-to-State Stability of Time-Delay Systems. Relation between Exponential Stability and Input-to-State Stability of Time-Delay Systems.
Ilia G. Polushin, Abdelhamid Tayebi & Horacio J. Marquez. (2006) Control schemes for stable teleoperation with communication delay based on IOS small gain theorem. Automatica 42:6, pages 905-915.
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Ilia G. Polushin, Abdelhamid Tayebi & Horacio J. Marquez. (2005) STABILIZATION SCHEME FOR FORCE REFLECTING TELEOPERATION WITH TIME-VARYING COMMUNICATION DELAY BASED ON IOS SMALL GAIN THEOREM. IFAC Proceedings Volumes 38:1, pages 394-399.
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Jie Sheng & P.X. Liu. (2004) A Review of Bilateral Sampled-Data Control of Teleoperators. A Review of Bilateral Sampled-Data Control of Teleoperators.

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