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First, a scaled 4-CH scheme with damping injection is developed to handle time-varying delay while guaranteeing the passivity of communication channels. Then, the improved extended active observer (IEAOB) is deployed to derive the operator\/environment force while addressing the issues of measurement noise and model uncertainties. Furthermore, the system stability is analyzed by choosing Lyapunov functional. Finally, the proposed method is validated through simulation.<\/jats:p>","DOI":"10.1017\/s0263574721001168","type":"journal-article","created":{"date-parts":[[2021,9,6]],"date-time":"2021-09-06T17:33:09Z","timestamp":1630949589000},"page":"1385-1405","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive-observer-based robust control for a time-delayed teleoperation system with scaled four-channel architecture"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1458-4217","authenticated-orcid":false,"given":"Linping","family":"Chan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingqing","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ping","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,9,3]]},"reference":[{"key":"S0263574721001168_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.09.003"},{"key":"S0263574721001168_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.05.044"},{"key":"S0263574721001168_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.04.005"},{"key":"S0263574721001168_ref16","doi-asserted-by":"crossref","first-page":"337","DOI":"10.1109\/THMS.2014.2303983","article-title":"Application of adaptive controllers in teleoperation systems: A survey","volume":"44","author":"Chan","year":"2014","journal-title":"IEEE Trans. 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