{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:36:25Z","timestamp":1777926985968,"version":"3.51.4"},"reference-count":25,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2013,9,23]],"date-time":"2013-09-23T00:00:00Z","timestamp":1379894400000},"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":[[2014,1]]},"abstract":"<jats:p>This article presents an observer-based control scheme for nonlinear bilateral teleoperation systems under variable asymmetric time delays. Estimated velocities are used in control laws, which may make the system unstable. A novel stability analysis is addressed to guarantee the performance of the controller\u2013observer scheme. The proposed scheme is composed of feedback controllers, consisting of two proportional\u2013derivative plus damping controllers in which d-terms are used to passify the delayed proportional and derivative control actions. Two nonlinear high-gain observers are designed in order to estimate the velocity signals of the master and the slave. The stability of the overall closed-loop system is proved under the assumption of passivity of the terminal operator and environment. The performance of the proposed approach is verified using experiments performed on a 2-degree-of-freedom teleoperation system. Experimental results verify that both controller and observer design objectives are satisfied.<\/jats:p>","DOI":"10.1177\/0959651813502176","type":"journal-article","created":{"date-parts":[[2013,9,24]],"date-time":"2013-09-24T03:43:19Z","timestamp":1379994199000},"page":"49-59","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["A controller\u2013observer scheme for nonlinear bilateral teleoperation systems"],"prefix":"10.1177","volume":"228","author":[{"given":"Keivan","family":"Baghestan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seyed Mehdi","family":"Rezaei","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, 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