This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …

This article is an historical overview of control theory applied to robotic manipulators, with an
emphasis on the early fundamental theoretical foundations of robot control. It discusses …

System integration is the elephant in the china store of large-scale cyber-physical system
(CPS) design. It would be hard to find any other technology that is more undervalued …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

The tactile internet will enable a new range of capabilities to enable immersive remote
operations and interactions with a physical world. Tactile internet use cases span over many …

Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …

Reset Control Systems addresses the analysis for reset control treating both its basic form
which requires only that the state of the controller be reinitialized to zero (the reset action) …

In this paper the problem of position tracking in the presence of variable time delay is
studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator …

The notions of passivity and positive realness are fundamental concepts in classical control
theory, but the use of the terms has varied. For LTI systems, these two concepts capture the …

Passivity-based control has emerged as an important paradigm for synchronization of
networked robotic systems. Despite the practical utility of task-space algorithms, the previous …