@inproceedings{a3b4e1fc9253461db1829f864c394514,
title = "Suboptimal master-slave teleoperation control with delays",
abstract = "This paper addresses the delay problem in bilateral teleoperation within a sampled-data context. The passivity constraints are imposed on the master and the slave side as well as the design specifications for a receding horizontype optimal control design. This results in a quadratically constrained problem that is non-convex which is known to be difficult to solve. Thus, a dual formulation is proposed that provides a suboptimal control input vector that is shown to guarantee bounded trajectories.",
author = "Hokayem, {Peter F.} and Stipanovi{\'c}, {Du{\v s}an M.} and Spong, {Mark W.}",
year = "2006",
doi = "10.1109/acc.2006.1656518",
language = "English (US)",
isbn = "1424402107",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2028--2033",
booktitle = "Proceedings of the 2006 American Control Conference",
address = "United States",
note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",
}