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

This paper addresses the adaptive control of teleoperation system with actuator saturation.
To unify the study of actuator saturation, passive/nonpassive external forces, asymmetric …

The main contribution of this technical note is to establish a link between the exponential
stability of an unforced system and the input-to-state stability (ISS) via the Liapunov …

The problem of stabilization of a force-reflecting telerobotic system in presence of time delay
in the communication channel is addressed. We introduce an approach that is based on …

The possibility of operating in remote environments using teleoperation systems has been
considered widely in the control literature. This paper presents a review on the discrete-time …

This book describes a unifying framework to networked teleoperation systems cutting across
multiple research fields including networked control system for linear and nonlinear forms …

In this paper, bilateral teleoperation of multiple slaves coupled to a single master under
scheduling communication is investigated. The sampled-data transmission between the …

The main goal of controller design in bilateral teleoperation systems is to achieve stability
and transparency in presence of different factors such as time delay in communication …

This paper addresses the synchronization problem of telerobotic systems, in which the
master and slave robots are assumed to be serial manipulators and the communication …

The goal of this paper is to achieve optimal performance for synchronization of bilateral
teleoperation systems against time delay and modeling uncertainties, in both free and …