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In this paper, a general multilateral teleoperation control problem is discussed, in which n masters remotely control n slaves through delayed communication channels. A novel communication structure is proposed to satisfy the multiple master\u2013slave communication requirement, in which weighting coefficients are chosen freely to perform the weighted effects of different masters or slaves. Power-based time-domain passivity control is subsequently developed for the complex multiple master\u2013slave communication channel, to achieve the passivity of multilateral teleoperation systems under time delay. Experiments on a teleoperation system with two masters and two slaves are described; the results verify the effectiveness of the proposed control scheme.<\/jats:p>","DOI":"10.1177\/0142331216679500","type":"journal-article","created":{"date-parts":[[2016,12,12]],"date-time":"2016-12-12T21:20:36Z","timestamp":1481577636000},"page":"3252-3262","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["A novel multilateral teleoperation scheme with power-based time-domain passivity control"],"prefix":"10.1177","volume":"40","author":[{"given":"Zheng","family":"Chen","sequence":"first","affiliation":[{"name":"Ocean College, Zhejiang University, Zhoushan, PR China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ya-Jun","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Dalhousie University, 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