{"id":"https://openalex.org/W4389665982","doi":"https://doi.org/10.1109/iros55552.2023.10341847","title":"Adaptive Robust Model Predictive Control for Bilateral Teleoperation","display_name":"Adaptive Robust Model Predictive Control for Bilateral Teleoperation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665982","doi":"https://doi.org/10.1109/iros55552.2023.10341847"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341847","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04287699/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093479851","display_name":"Fadi Alyousef Almasalmah","orcid":null},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"funder","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12356871","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210145102","https://openalex.org/I4210159245","https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fadi Alyousef Almasalmah","raw_affiliation_strings":["ICube lab, University of Strasbourg, France"],"affiliations":[{"raw_affiliation_string":"ICube lab, University of Strasbourg, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110841364","display_name":"Hassan Omran","orcid":"https://orcid.org/0000-0003-1664-7792"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12356871","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210145102","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"funder","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassan Omran","raw_affiliation_strings":["ICube lab, University of Strasbourg, France"],"affiliations":[{"raw_affiliation_string":"ICube lab, University of Strasbourg, France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"funder","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["LIRMM Lab, University of Montpellier-CNRS, France"],"affiliations":[{"raw_affiliation_string":"LIRMM Lab, University of Montpellier-CNRS, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064223962","display_name":"Bernard Bayle","orcid":"https://orcid.org/0000-0003-4728-8593"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12356871","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210145102","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"funder","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bernard Bayle","raw_affiliation_strings":["ICube lab, University of Strasbourg, France"],"affiliations":[{"raw_affiliation_string":"ICube lab, University of Strasbourg, France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.094,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":2,"citation_normalized_percentile":{"value":0.686558,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":76,"max":82},"biblio":{"volume":null,"issue":null,"first_page":"7069","last_page":"7074"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9373,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8718604},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model Predictive Control","score":0.60457695},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness","score":0.41780332}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8718604},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.66988045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61818296},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6145009},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6104401},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.60882074},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.60457695},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5870822},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4668729},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4663486},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4352978},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41780332},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3822009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35511354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33623296},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25591278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24100307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14173746},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341847","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-04632518","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04287699/document","source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A168349","pdf_url":"https://univoak.eu/islandora/object/islandora:168349/datastream/PDF/download/citation.pdf","source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":["Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A169605","pdf_url":"https://univoak.eu/islandora/object/islandora:169605/datastream/PDF/download/citation.pdf","source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":["Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-04632518/file/IROS_Paper.pdf","pdf_url":"https://hal.science/hal-04632518/file/IROS_Paper.pdf","source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-04632518/document","pdf_url":"https://hal.science/hal-04632518/document","source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hal.science/hal-04632518","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04287699/document","source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W1837593177","https://openalex.org/W2006859604","https://openalex.org/W2037129703","https://openalex.org/W2038798729","https://openalex.org/W2070768496","https://openalex.org/W2079641242","https://openalex.org/W2084166574","https://openalex.org/W2099914424","https://openalex.org/W2118830797","https://openalex.org/W2124237013","https://openalex.org/W2167971611","https://openalex.org/W2296039882","https://openalex.org/W2536620281","https://openalex.org/W2919264892","https://openalex.org/W3012548973","https://openalex.org/W3132830362","https://openalex.org/W3179588321","https://openalex.org/W4288115931","https://openalex.org/W4289829093","https://openalex.org/W4388903504"],"related_works":["https://openalex.org/W4205300464","https://openalex.org/W2767128392","https://openalex.org/W2319803529","https://openalex.org/W2281732014","https://openalex.org/W2108470770","https://openalex.org/W2063351494","https://openalex.org/W1983384638","https://openalex.org/W1972862722","https://openalex.org/W1562326332","https://openalex.org/W1512021029"],"abstract_inverted_index":{"In":[0,39],"this":[1],"work,":[2],"we":[3,30,41,52,72],"use":[4,42,53],"recent":[5],"developments":[6],"in":[7,35,103],"the":[8,36,48,59,65,68,86,91,97,100],"field":[9],"of":[10,67,85,99],"adaptive":[11],"robust":[12,27,69,105],"Model":[13],"Predictive":[14],"Control":[15],"(MPC)":[16],"to":[17,46,57,80],"build":[18],"a":[19,82],"controller":[20,92],"for":[21],"bilateral":[22],"teleoperation":[23,114],"systems.":[24],"To":[25],"guarantee":[26],"constraint":[28,106],"satisfaction,":[29],"incorporate":[31],"polytopic":[32],"tube":[33],"controllers":[34],"MPC":[37],"design.":[38],"addition,":[40],"online":[43],"learning":[44,56,112],"methods":[45],"learn":[47,58,81],"environment":[49],"model.":[50],"Namely,":[51],"set":[54],"membership":[55],"parametric":[60],"uncertainty":[61],"bounds":[62],"and":[63,71,108],"reduce":[64],"conservatism":[66],"controller,":[70],"combine":[73],"it":[74],"with":[75],"least":[76],"mean":[77],"square":[78],"method":[79],"point":[83],"estimate":[84],"model":[87],"parameters,":[88],"which":[89],"enhances":[90],"performance.":[93],"Our":[94],"simulation":[95],"demonstrates":[96],"effectiveness":[98],"proposed":[101],"approach":[102],"maintaining":[104],"satisfaction":[107],"enhancing":[109],"performance":[110],"by":[111],"during":[113],"tasks.":[115]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4389665982","counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-04-17T16:13:04.579168","created_date":"2023-12-14"}