{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,29]],"date-time":"2026-01-29T23:58:54Z","timestamp":1769731134320,"version":"3.49.0"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2016,12,28]],"date-time":"2016-12-28T00:00:00Z","timestamp":1482883200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,6]]},"DOI":"10.1007\/s10846-016-0454-9","type":"journal-article","created":{"date-parts":[[2016,12,28]],"date-time":"2016-12-28T19:37:06Z","timestamp":1482953826000},"page":"447-466","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Fixed-time Coordination Control for Bilateral Telerobotics System with Asymmetric Time-varying Delays"],"prefix":"10.1007","volume":"86","author":[{"given":"Yana","family":"Yang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changchun","family":"Hua","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junpeng","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinping","family":"Guan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,12,28]]},"reference":[{"issue":"12","key":"454_CR1","doi-asserted-by":"publisher","first-page":"2035","DOI":"10.1016\/j.automatica.2006.06.027","volume":"42","author":"PF Hokayem","year":"2006","unstructured":"Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: An history survey. Automatica 42(12), 2035\u20132057 (2006)","journal-title":"Automatica"},{"issue":"3","key":"454_CR2","doi-asserted-by":"publisher","first-page":"602","DOI":"10.1109\/TRA.2004.824700","volume":"20","author":"WK Yoon","year":"2004","unstructured":"Yoon, W.K., Goshozono, T., Kawabe, H., Kinami, M., Tsumaki, Y., Uchiyama, M., et al.: Model-based space robot teleoperation of ETS-VII manipulator. IEEE Trans. Robot. Autom. 20(3), 602\u2013612 (2004)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"454_CR3","doi-asserted-by":"publisher","unstructured":"Ishii, C., Mikami, H., Nakakuki, T., Hashimoto, H.: Bilateral control for remote controlled robotic forceps system with time varying delay. In: IEEE International Conference on Human System Interactions (HSI), pp 330\u2013335, Japan (2011)","DOI":"10.1109\/HSI.2011.5937387"},{"issue":"3-4","key":"454_CR4","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1007\/s10846-012-9678-5","volume":"68","author":"F Hashemzadeh","year":"2012","unstructured":"Hashemzadeh, F., Hassanzadeh, I., Tavakoli, M., Alizadeh, G.: Adaptive control for state synchronization of nonlinear haptic telerobotic systems with asymmetric varying time delays. J. Intell. Robot. Syst. 68(3-4), 245\u2013259 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"454_CR5","doi-asserted-by":"publisher","first-page":"218","DOI":"10.1016\/j.isatra.2014.07.008","volume":"54","author":"S Islam","year":"2015","unstructured":"Islam, S., Liu, X.P., El Saddik, A.: Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delays. ISA Transactions 54, 218\u2013228 (2015)","journal-title":"ISA Transactions"},{"issue":"11","key":"454_CR6","doi-asserted-by":"publisher","first-page":"1628","DOI":"10.1002\/rnc.2950","volume":"24","author":"ZJ Li","year":"2014","unstructured":"Li, Z.J., Xia, Y. Q.: Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics. Int J Robust Nonlinear Control 24(11), 1628\u20131652 (2014)","journal-title":"Int J Robust Nonlinear Control"},{"issue":"11","key":"454_CR7","doi-asserted-by":"publisher","first-page":"2943","DOI":"10.1109\/TIM.2013.2266039","volume":"62","author":"S Islam","year":"2013","unstructured":"Islam, S., Liu, X.P., El Saddik, A.: Teleoperation systems with symmetric and unsymmetric time varying communication delay. IEEE Trans. Instr. Measu. 62(11), 2943\u20132953 (2013)","journal-title":"IEEE Trans. Instr. Measu."},{"issue":"2","key":"454_CR8","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1109\/TRO.2005.862037","volume":"22","author":"D Lee","year":"2006","unstructured":"Lee, D., Spong, M.W.: Passive bilateral teleoperation with constant time delay. IEEE Trans. Robot. 22(2), 269\u2013281 (2006)","journal-title":"IEEE Trans. Robot."},{"issue":"5","key":"454_CR9","first-page":"925","volume":"25","author":"CC Hua","year":"2010","unstructured":"Hua, C.C., Liu, X.P.: Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays. IEEE Trans. Robot. 25(5), 925\u2013932 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"9","key":"454_CR10","doi-asserted-by":"publisher","first-page":"1400","DOI":"10.1109\/TNNLS.2013.2258681","volume":"24","author":"ZJ Li","year":"2013","unstructured":"Li, Z.J., Su, C.Y.: Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties. IEEE Trans. Neur. Netwo. Lear. Syst. 24(9), 1400\u20131413 (2013)","journal-title":"IEEE Trans. Neur. Netwo. Lear. Syst."},{"issue":"1","key":"454_CR11","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1109\/TIM.2010.2065410","volume":"60","author":"CC Hua","year":"2011","unstructured":"Hua, C.C., Liu, X.P.: Teleoperation over the Internet with\/without velocity signal. IEEE Trans. Instr. Meas. 60(1), 4\u201313 (2011)","journal-title":"IEEE Trans. Instr. Meas."},{"issue":"11","key":"454_CR12","doi-asserted-by":"publisher","first-page":"1957","DOI":"10.1016\/j.automatica.2005.07.001","volume":"41","author":"SH Yu","year":"2005","unstructured":"Yu, S.H., Yu, X.H., Shirinzadeh, B.J., Man, Z.H.: Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 41(11), 1957\u20131964 (2005)","journal-title":"Automatica"},{"issue":"9","key":"454_CR13","doi-asserted-by":"publisher","first-page":"3296","DOI":"10.1109\/TIE.2008.2011350","volume":"56","author":"LY Wang","year":"2009","unstructured":"Wang, L.Y., Chai, T.Y., Zhai, L.F.: Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics. IEEE Trans. Indus. Elect. 56(9), 3296\u20133304 (2009)","journal-title":"IEEE Trans. Indus. Elect."},{"issue":"3","key":"454_CR14","doi-asserted-by":"publisher","first-page":"631","DOI":"10.1109\/TFUZZ.2013.2269694","volume":"22","author":"YN Yang","year":"2014","unstructured":"Yang, Y.N., Hua, C.C., Guan, X.P.: Adaptive fuzzy finite-time coordination control for networked nonlinear bilateral teleoperation system. IEEE Trans. Fuzzy Systems 22(3), 631\u2013641 (2014)","journal-title":"IEEE Trans. Fuzzy Systems"},{"issue":"12","key":"454_CR15","doi-asserted-by":"publisher","first-page":"3591","DOI":"10.1016\/j.automatica.2013.09.001","volume":"49","author":"KF Lu","year":"2013","unstructured":"Lu, K.F., Xia, Y.Q.: Adaptive attitude tracking control for rigid spacecraft with finite-time convergence. Automatica 49(12), 3591\u20133599 (2013)","journal-title":"Automatica"},{"issue":"2","key":"454_CR16","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1016\/j.rcim.2013.09.005","volume":"30","author":"YX Su","year":"2014","unstructured":"Su, Y.X., Swevers, J.: Finite-time tracking control for robot manipulators with actuator saturation. Robot. Comput. Integr. Manuf. 30(2), 91\u201398 (2014)","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"5","key":"454_CR17","doi-asserted-by":"publisher","first-page":"881","DOI":"10.1016\/j.automatica.2004.11.036","volume":"41","author":"XQ Huang","year":"2005","unstructured":"Huang, X.Q., Lin, W., Yang, B.: Global finite-time stabilization of a class of uncertain nonlinear systems. Automatica 41(5), 881\u2013888 (2005)","journal-title":"Automatica"},{"issue":"1","key":"454_CR18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1049\/iet-cta.2008.0014","volume":"4","author":"D Zhao","year":"2010","unstructured":"Zhao, D., Li, S., Zhu, Q., Gao, F.: Robust finite-time control approach for robotic manipulators. IET Control Theory Appl. 4(1), 1\u201315 (2010)","journal-title":"IET Control Theory Appl."},{"issue":"3","key":"454_CR19","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1016\/j.automatica.2011.07.014","volume":"48","author":"XF Zhang","year":"2012","unstructured":"Zhang, X.F., Feng, G., Sun, Y.H.: Finite-time stabilization by state feedback control for a class of time-varying nonlinear systems. Automatica 48(3), 499\u2013504 (2012)","journal-title":"Automatica"},{"issue":"8","key":"454_CR20","doi-asserted-by":"publisher","first-page":"2106","DOI":"10.1109\/TAC.2011.2179869","volume":"57","author":"A Polyakov","year":"2012","unstructured":"Polyakov, A.: Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans. Autom. Control 57(8), 2106\u20132110 (2012)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"454_CR21","doi-asserted-by":"publisher","first-page":"1831","DOI":"10.1016\/j.jfranklin.2014.01.002","volume":"351","author":"A Polykov","year":"2014","unstructured":"Polykov, A., Fridman, L.: Stability notions and Lyapunov functions for sliding mode control systems. J. Franklin Inst. 351(4), 1831\u20131865 (2014)","journal-title":"J. Franklin Inst."},{"key":"454_CR22","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1016\/j.automatica.2015.01.021","volume":"54","author":"ZY Zuo","year":"2015","unstructured":"Zuo, Z.Y.: Nonsingular fixed-time consensus tracking for second-order multi-agent networks. Automatica 54, 305\u2013309 (2015)","journal-title":"Automatica"},{"issue":"1","key":"454_CR23","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1007\/s10846-014-0162-2","volume":"79","author":"VP Cuong","year":"2015","unstructured":"Cuong, V.P., Wang, Y.N.: Robust adaptive trajectory tracking sliding mode control based on neural networks for cleaning and detecting robot manipulators. J. Intell. Rob. Syst. 79(1), 101\u2013114 (2015)","journal-title":"J. Intell. Rob. Syst."},{"issue":"3-4","key":"454_CR24","doi-asserted-by":"publisher","first-page":"363","DOI":"10.1007\/s10846-013-9888-5","volume":"75","author":"HT Liu","year":"2014","unstructured":"Liu, H.T., Zhang, T.: Adaptive neural network finite-time control for uncertain robotic manipulators. J. Intell. Rob. Syst. 75(3-4), 363\u2013377 (2014)","journal-title":"J. Intell. Rob. Syst."},{"key":"454_CR25","doi-asserted-by":"publisher","first-page":"204","DOI":"10.1016\/j.neucom.2013.01.016","volume":"113","author":"CC Hua","year":"2013","unstructured":"Hua, C.C., Yang, Y.N., Guan, X.P.: Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay. Neurocomputing 113, 204\u2013212 (2013)","journal-title":"Neurocomputing"},{"issue":"2","key":"454_CR26","doi-asserted-by":"publisher","first-page":"364","DOI":"10.1080\/00207179.2014.953590","volume":"88","author":"J Ye","year":"2015","unstructured":"Ye, J: Tracking control of a non-holonomic wheeled mobile robot using improved compound cosine function neural networks. Int. J. Control 88(2), 364\u2013373 (2015)","journal-title":"Int. J. Control"},{"issue":"5","key":"454_CR27","doi-asserted-by":"publisher","first-page":"1382","DOI":"10.1016\/j.asr.2014.06.038","volume":"55","author":"H Leeghim","year":"2015","unstructured":"Leeghim, H., Kim, D.: Adaptive neural control of spacecraft using control moment gyros. Adv. Space Res. 55(5), 1382\u20131393 (2015)","journal-title":"Adv. Space Res."},{"issue":"1","key":"454_CR28","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1109\/TNNLS.2012.2223824","volume":"24","author":"Q Zhou","year":"2013","unstructured":"Zhou, Q., Shi, P., Xu, S., Li, H.: Observer-based adaptive neural network control for nonlinear stochastic systems with time-delay. IEEE Trans. Neur. Netwo. Lear. Syst. 24(1), 71\u201380 (2013)","journal-title":"IEEE Trans. Neur. Netwo. Lear. Syst."},{"issue":"6","key":"454_CR29","doi-asserted-by":"publisher","first-page":"910","DOI":"10.1109\/TCYB.2013.2276043","volume":"44","author":"SC Tong","year":"2014","unstructured":"Tong, S.C., Wang, T., Li, Y.M.: Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unmodeled dynamics. IEEE Trans. Cyber. 44(6), 910\u2013921 (2014)","journal-title":"IEEE Trans. Cyber."},{"issue":"5","key":"454_CR30","doi-asserted-by":"publisher","first-page":"1134","DOI":"10.1109\/TRO.2009.2017803","volume":"25","author":"P Malysz","year":"2009","unstructured":"Malysz, P., Sirouspour, S.: Nonlinear and filtered force\/position mapping in bilateral teleoperation with application to enhanced stiffness discrimination. IEEE Trans. Robotics 25(5), 1134\u20131149 (2009)","journal-title":"IEEE Trans. Robotics"},{"issue":"6","key":"454_CR31","doi-asserted-by":"publisher","first-page":"1681","DOI":"10.1109\/TSMCB.2011.2159111","volume":"41","author":"M Wang","year":"2011","unstructured":"Wang, M., Liu, X.P., Shi, P.: Adaptive neural control of pure-feedback nonlinear time-delay systems via dynamic surface technique. IEEE Trans. Syst. Man Cybern. Part B Cybern. 41(6), 1681\u20131692 (2011)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B Cybern."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0454-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0454-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0454-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,4,26]],"date-time":"2017-04-26T14:37:12Z","timestamp":1493217432000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0454-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12,28]]},"references-count":31,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2017,6]]}},"alternative-id":["454"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0454-9","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,12,28]]}}}