{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T05:13:48Z","timestamp":1741151628347,"version":"3.38.0"},"reference-count":22,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2012,1,18]],"date-time":"2012-01-18T00:00:00Z","timestamp":1326844800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,5]]},"abstract":"<jats:p> Many robotics researchers have focused on stability in free and constrained motions, but only a few of them have considered system stability in the transition between these phases. For a teleoperation system, due to delay effects, studying this concept is even more crucial. Recently, passivity-based controller stability has been studied in free motion and constrained mode of a teleoperation system in the presence of constant time delay. However, the controller does not guarantee arbitrary switching between these modes. In this paper, a hybrid system theorem was employed to treat delayed teleoperative tasks that involve phase transition or switching. Applying this theorem, the stability of passivity-based architecture in transition was studied. It was proved that this type of controller is stable even with arbitrary switching. Experiments on a two-degrees-of-freedom nonlinear teleoperation system were conducted to verify the approach. Experimental results have shown that passivity-based architecture, as expected in controller design, is well suited for delayed teleoperation in transition. Moreover, even without force sensing, the system\u2019s force tracking in dealing with a hard environment is admissible. <\/jats:p>","DOI":"10.1177\/0959651811433662","type":"journal-article","created":{"date-parts":[[2012,1,19]],"date-time":"2012-01-19T02:54:28Z","timestamp":1326941668000},"page":"577-585","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Stability of delayed passivity-based teleoperation systems in transition"],"prefix":"10.1177","volume":"226","author":[{"given":"Alireza","family":"Jafari","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, Amirkabir University of Technology, Iran"}]},{"given":"Mohammad","family":"Zareinejad","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Amirkabir University of Technology, Iran"}]},{"given":"Seyed Mehdi","family":"Rezaei","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Amirkabir University of Technology, Iran"}]},{"given":"Saeed Shiry","family":"Ghidary","sequence":"additional","affiliation":[{"name":"Computer Engineering Department, Amirkabir University of Technology, Iran"}]},{"given":"Keivan","family":"Baghestan","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Amirkabir University of Technology, Iran"}]}],"member":"179","published-online":{"date-parts":[[2012,1,18]]},"reference":[{"key":"bibr1-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/70.258052"},{"key":"bibr2-0959651811433662","first-page":"1","volume":"2010","author":"Soylu S","year":"2010","journal-title":"Oceans"},{"key":"bibr3-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/48.659450"},{"first-page":"1","volume-title":"International conference on applied robotics for the power industry","author":"Garc\u00ed a-Borras P","key":"bibr4-0959651811433662"},{"key":"bibr5-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.236"},{"key":"bibr6-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"bibr7-0959651811433662","first-page":"1953","volume-title":"2005 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2005)","author":"Kim J","year":"2005"},{"key":"bibr8-0959651811433662","first-page":"1","volume":"28","author":"Seifabadi R","year":"2009","journal-title":"Robotica"},{"issue":"5","key":"bibr9-0959651811433662","first-page":"607","volume":"23","author":"Brogliato B","year":"1998","journal-title":"J Dyn Contr"},{"key":"bibr10-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/3516.914393"},{"key":"bibr11-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704001201"},{"first-page":"4013","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Doulgeri Z","key":"bibr12-0959651811433662"},{"key":"bibr13-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1142\/7017"},{"key":"bibr14-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.862037"},{"key":"bibr15-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.921565"},{"key":"bibr16-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.12.002"},{"first-page":"3272","volume-title":"Proceedings of the 2002 IEEE international conference on robotics and automation","author":"Ni L","key":"bibr17-0959651811433662"},{"key":"bibr18-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041563"},{"key":"bibr19-0959651811433662","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004372"},{"volume-title":"Nonlinear systems","year":"2002","author":"Khalil H","key":"bibr20-0959651811433662"},{"key":"bibr21-0959651811433662","unstructured":"Pettersson S. 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