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Nonlinear optimisation algorithms might only sometimes deliver solutions in the allotted time, particularly when handling complicated, high-dimensional issues or when optimisation iterations are extensive. The study first develops a comprehensive mathematical model encompassing the dynamics and communication intricacies of both master and slave sides in teleoperation. By recognising the limitations of existing proportional-derivative controllers in compensating for communication errors, a sequential quadratic programming-proportional-integral-derivative (SQP-PID) controller is introduced. This controller accumulates and rectifies synchronisation delay errors, ensuring precise control without steady-state deviations. The proposed SQP-PID controller stands out for its ability to handle steady-state errors effectively, offering swift response and maintaining stability. Leveraging the SQP optimisation algorithm, it intelligently tunes the parameters, minimising synchronisation errors. The approach capitalises on the simplicity, performance, and robustness of the SQP-PID controller, providing a promising avenue for enhancing bilateral teleoperation systems\u2019 accuracy and stability, maintaining initial discrepancy with a best fitness value of 0.98 % in varied operating conditions.<\/jats:p>","DOI":"10.1017\/s0263574724001565","type":"journal-article","created":{"date-parts":[[2024,10,8]],"date-time":"2024-10-08T16:20:18Z","timestamp":1728404418000},"page":"3639-3656","source":"Crossref","is-referenced-by-count":5,"title":["Optimisation of synchronisation control parameters for enhanced bilateral teleoperation system"],"prefix":"10.1017","volume":"42","author":[{"given":"Naveen","family":"Kumar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-8548-9784","authenticated-orcid":false,"given":"Niharika","family":"Thakur","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yogita","family":"Gupta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,10,8]]},"reference":[{"key":"S0263574724001565_ref5","first-page":"66","article-title":"Design and rapid construction of a cost-effective virtual haptic device","volume":"26","author":"Wang","year":"2020","journal-title":"IEEE\/ASME Trans Mechatr"},{"key":"S0263574724001565_ref4","unstructured":"[4] N. 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Mohideen, Network Delay Mitigated Remote Robot Control with Force Feedback for Improved QoS (2022)."},{"key":"S0263574724001565_ref10","first-page":"490","article-title":"Adaptive whale optimization for intelligent multi-constraints power quality improvement under deregulated environment","volume":"17","author":"Thakur","year":"2019","journal-title":"J Eng Des Technol"},{"key":"S0263574724001565_ref2","first-page":"141","article-title":"Robot-assisted minimally invasive surgical skill assessment\u2014Manual and automated platforms","volume":"16","author":"Elek","year":"2019","journal-title":"Acta Polytech Hung"},{"key":"S0263574724001565_ref9","doi-asserted-by":"crossref","unstructured":"[9] Kumar, N. , Thakur, N. and Khanna, Y. , \u201cTime delay Independent of Bilateral Tele-Robotic System using Wave Variable Approach,\u201d In: 2022 8th International Conference on Signal Processing and Communication (ICSC), (2022) pp. 669\u2013674.","DOI":"10.1109\/ICSC56524.2022.10009428"},{"key":"S0263574724001565_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.jobe.2020.101692"},{"key":"S0263574724001565_ref21","doi-asserted-by":"publisher","DOI":"10.3390\/app13042462"},{"key":"S0263574724001565_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2020.107963"},{"key":"S0263574724001565_ref8","unstructured":"[8] Bolarinwa, J.O. , Enhancing Tele-Operation-Investigating the Effect of Sensory Feedback On Performance (Faculty of Engineering and Technology, University of the West of England, Bristol, 2022). 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