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Based on passive decomposition approach, the dynamics of the slaves are decomposed into two decoupled systems, and then two higher order sliding mode controllers are designed to control them. Also, a synchronization control methodology for the master is developed. Stability is fully studied using the passivity property and Lyapunov theorem. Finally, simulation and practical results confirm that the control system works well against the conditions.<\/jats:p>","DOI":"10.1017\/s0263574719000791","type":"journal-article","created":{"date-parts":[[2019,5,30]],"date-time":"2019-05-30T06:36:27Z","timestamp":1559198187000},"page":"475-492","source":"Crossref","is-referenced-by-count":11,"title":["A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master\/Multi-Slave System"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6835-7100","authenticated-orcid":false,"given":"Maryam","family":"Farahmandrad","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Soheil","family":"Ganjefar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heidar Ali","family":"Talebi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0045-4729","authenticated-orcid":false,"given":"Mahdi","family":"Bayati","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,5,30]]},"reference":[{"key":"S0263574719000791_ref26","volume-title":"Robot Modeling and Control","author":"Spong","year":"2006"},{"key":"S0263574719000791_ref25","doi-asserted-by":"publisher","DOI":"10.1002\/acs.996"},{"key":"S0263574719000791_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.10.026"},{"key":"S0263574719000791_ref23","first-page":"1","article-title":"Adaptive formation control of cooperative teleoperators with intermittent communications","volume":"99","author":"Yang","year":"2018","journal-title":"IEEE Trans. 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