{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T18:31:12Z","timestamp":1780597872270,"version":"3.54.1"},"reference-count":57,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T00:00:00Z","timestamp":1718236800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Master\u2013slave teleoperation systems with haptic feedback enable human operators to interact with objects or perform tasks in remote environments. This paper presents a sliding-mode control scheme tailored for bilateral teleoperation systems operating in the presence of unknown uncertainties and time-varying delays. To address unknown but bounded uncertainties, adaptive laws are derived alongside controller design. Additionally, a linear matrix inequality is solved to determine the allowable bound of delays. Stability of the closed-loop system is ensured through Lyapunov\u2013Krasovskii functional analysis. Two-degree-of-freedom mechanisms are self-built as haptic devices. Free-motion and force-perception scenarios are examined, with experimental results validating and comparing performances. The proposed adaptive-sliding-control method increases the position performance from 58.48% to 82.55% and the force performance from 83.48% to 99.77%. The proposed control scheme demonstrates enhanced position tracking and force perception in bilateral teleoperation systems.<\/jats:p>","DOI":"10.3390\/robotics13060089","type":"journal-article","created":{"date-parts":[[2024,6,14]],"date-time":"2024-06-14T10:42:34Z","timestamp":1718361754000},"page":"89","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9451-1028","authenticated-orcid":false,"given":"Yeong-Hwa","family":"Chang","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"},{"name":"Department of Electrical Engineering, Ming Chi University of Technology, New Taipei City 243, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cheng-Yuan","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hung-Wei","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103973","DOI":"10.1016\/j.robot.2021.103973","article-title":"Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey","volume":"150","author":"Moniruzzaman","year":"2022","journal-title":"Robot. 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