{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T18:05:36Z","timestamp":1774289136626,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,4,23]],"date-time":"2021-04-23T00:00:00Z","timestamp":1619136000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"We will add later","award":["We will add later"],"award-info":[{"award-number":["We will add later"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>In hazardous\/emergency situations, public safety is of the utmost concern. In areas where human access is not possible or is restricted due to hazardous situations, a system or robot that can be distantly controlled is mandatory. There are many applications in which force cannot be applied directly while using physical sensors. Therefore, in this research, a robust controller for pursuing trajectory and force estimations while deprived of any signals or sensors for bilateral tele-operation of a hydraulic manipulator is suggested to handle these hazardous, emergency circumstances. A terminal sliding control with a sliding perturbation observer (TSMCSPO) is considered as the robust controller for a coupled leader and hydraulic follower system. The ultimate use of this controller is as a sliding perturbation observer (SPO) that can estimate the reaction force without any physical force sensors. Robust and perfect position tracking is attained with terminal sliding mode control (TSMC) in addition to control of the hydraulic follower manipulator. The force estimation and pursuing trajectory for the leader\u2013follower system is built upon a bilateral tele-operation control approach. The difference between the reaction forces (caused by the remote environment) and the operating forces (applied by the human operator) required the involvement of an impedance model. The impedance model is implemented in the leader manipulator to provide human operators with an actual sense of the reaction force while the manipulator connects with the remote environment. A camera is used to ensure the safety of the workplace through visual feedback. The experimental results showed that the controller was robust at pursuing trajectory and force estimations for the bilateral tele-operation control of a hydraulic manipulator.<\/jats:p>","DOI":"10.3390\/rs13091648","type":"journal-article","created":{"date-parts":[[2021,4,25]],"date-time":"2021-04-25T02:12:57Z","timestamp":1619316777000},"page":"1648","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Robust Controller for Pursuing Trajectory and Force Estimations of a Bilateral Tele-Operated Hydraulic Manipulator"],"prefix":"10.3390","volume":"13","author":[{"given":"Karam Dad","family":"Kallu","sequence":"first","affiliation":[{"name":"School of Mechanical and Manufacturing Engineering (SMME), National University of Science and Technology (NUST) H-12, Islamabad 44000, Pakistan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0716-3932","authenticated-orcid":false,"given":"Amad","family":"Zafar","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Islamabad Campus, University of Lahore, Islamabad 44000, Pakistan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7326-1813","authenticated-orcid":false,"given":"Muhammad Umair","family":"Ali","sequence":"additional","affiliation":[{"name":"Department of Unmanned Vehicle Engineering, Sejong University, Seoul 05006, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4661-2956","authenticated-orcid":false,"given":"Shahzad","family":"Ahmed","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimini-ro, Seongdong-gu, Seoul 133-791, Korea"}]},{"given":"Min Cheol","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Pusan National University, Busan 43241, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4753","DOI":"10.1080\/00207543.2012.657965","article-title":"A Framework for the Selection of the Right Nuclear Power Plant","volume":"50","author":"Locatelli","year":"2011","journal-title":"Int. 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