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The baseline controller is a guaranteed performance fuzzy model based parallel distributed controller (PDC) which is constructed using the nominal system\u2019s parameters. The model approximation error and parametric uncertainties are treated as a lumped disturbance and a nonlinear disturbance observer (NDOB) is introduced to counter the lumped disturbance. The applicability of the proposed scheme is demonstrated on the bilateral control of nonlinear teleoperation system in MATLAB\/Simulink\/QUARC environment through simulations as well as semi-real time experiments.<\/jats:p>","DOI":"10.3233\/jifs-219292","type":"journal-article","created":{"date-parts":[[2022,3,11]],"date-time":"2022-03-11T11:49:39Z","timestamp":1646999379000},"page":"1911-1919","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Disturbance observer supported fuzzy model based controller with application to bilateral teleoperation systems"],"prefix":"10.1177","volume":"43","author":[{"given":"Muhammad Usman","family":"Asad","sequence":"first","affiliation":[{"name":"Department of Electrical &amp; Computer Engineering, Dalhousie University, Halifax, N.S., Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jason","family":"Gu","sequence":"additional","affiliation":[{"name":"Department of Electrical &amp; Computer Engineering, Dalhousie University, Halifax, N.S., Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Umar","family":"Farooq","sequence":"additional","affiliation":[{"name":"Department of Electrical &amp; Computer Engineering, Dalhousie University, Halifax, N.S., Canada"},{"name":"Intelligent Systems Laboratory and Automation Facility (ISLAF), Lahore, Pakistan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marius","family":"Balas","sequence":"additional","affiliation":[{"name":"Depatrment of Informatics, \u201cAuriel Vlaicu\u201d University of Arad, Arad, Romania"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Chen","sequence":"additional","affiliation":[{"name":"Ocean College, Zhejiang University, Zhejiang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Khurram Karim","family":"Qureshi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ghulam","family":"Abbas","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, The University of Lahore, Lahore, Pakistan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunqi","family":"Chang","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering, Shenzhen University, Shenzhen, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,3,10]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"KhalilH.K. 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