Time Delay Compensation by Fuzzy Control in the Case of Master

https://m2.mtmt.hu/ hun 2026-04-29 23:19 BookChapter 2137819 ADMIN_APPROVED true Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary Dept. of Automation and Applied Informatics, Politehnica University of Timisoara, Timisoara, Romania Dept. of Mathematics, Politehnica University of Timisoara, Timisoara, Romania Kandó Kálmn Faculty, Óbuda University, Budapest, Hungary Conference code: 85356 Cited By :6 Export Date: 30 July 2021 Correspondence Address: Precup, R.-E.; Dept. of Control Engineering and Information Technology, , Budapest, Hungary; email: radu.precup@aut.upt.ro 0 2015-01-13T12:56:09.000+0000 false 2137819 2026-03-13T13:25:26.942+0000 2022-12-05T07:33:16.159+0000 2011-06-09T06:45:00.000+0000 true 10023855 Haidegger Tamás /api/author/10023855 Author Haidegger Tamás (orvosi robotika és mesterséges intelligencia) true 10023855 2026-02-26T09:55:36.158+0000 2019-08-13T10:48:01.374+0000 true 10015683 Hostyánszki Zsuzsa /api/admin/10015683 Admin Hostyánszki Zsuzsa (BME admin 5 - INAKTÍV) true 10015683 Admin 10025544 /api/admin/10025544 Lévayné Deseő Katalin (MTMT Központi admin) Lévayné Deseő Katalin true 10025544 true 2022-12-15T09:00:01.457+0000 true false true 25 25 /api/publicationtype/25 PublicationType Könyvrészlet 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType Könyvrészlet 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType Konferenciaközlemény (Könyvrészlet) 228 true 10000312 true 1 /api/category/1 Category Tudományos true 1 Precup, Radu-Emil Time Delay Compensation by Fuzzy Control in the Case of Master–Slave Telesurgery 305 310 305 6 2011 Telesurgery means the remote application of interventional medical techniques; a concept that is currently widely practiced around the world for short distance through master–slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. The fuzzy control solution is supported by a cascade control system structure with two proportional–integral–derivative (PID) controllers in the inner and outer control loops and designed by Kessler’s Extended Symmetrical Optimum empirical criteria. The PID controller in the outer loop is next replaced by Takagi–Sugeno–Kong PID–fuzzy controllers which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki–Sugeno–Kong PID–fuzzy controllers. 2011 330849 false true true true true false NONE 2026-03-13 false 12 0 9 4 5 10 7 7 8 8 8 3 3 6 6 0 12 6 9 4 0 5 5 Folyóiratcikk Journal Article 24 7 Könyvrészlet Chapter in Book 25 2 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 2 Egyéb Miscellaneous 29 1 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2012 0 3 0 3 0 2013 0 4 3 4 3 2014 0 0 0 0 0 2015 0 3 2 3 2 2016 0 0 0 0 0 2017 0 0 0 0 0 2018 0 0 0 0 0 2019 0 0 0 0 0 2020 0 0 0 0 0 2021 0 1 0 1 0 2022 0 0 0 0 0 2023 0 1 1 1 1 false false false false 2014-08-05T12:38:02.000+0000 2012-12-06T12:41:52.000+0000 Híradástechnikai Intézet (ÓE / KVK); Irányítástechnika és Informatika Tanszék (BME / VIK) 5 25 2 8 0 true true 10002 English /api/language/10002 Angol Language Angol true 2 false true 10003 true 10001 /api/country/10001 Country Magyarország true 1 /api/city/10003 City Budapest, Magyarország true 10005024 true 422990 /api/publicationidentifier/422990 https://www.worldcat.org/search?q=isbn%3A9781424491094 9781424491094 PublicationIdentifier ISBN: 9781424491094 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 5323138 /api/publicationidentifier/5323138 https://www.worldcat.org/search?q=isbn%3A9781424491087 9781424491087 PublicationIdentifier ISBN: 9781424491087 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 16466582 /api/publicationidentifier/16466582 https://www.worldcat.org/search?q=isbn%3A9781424491070 9781424491070 PublicationIdentifier ISBN: 9781424491070 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 16466583 /api/publicationidentifier/16466583 https://www.worldcat.org/search?q=isbn%3A1424491096 1424491096 PublicationIdentifier ISBN: 1424491096 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 16466584 /api/publicationidentifier/16466584 https://www.worldcat.org/search?q=isbn%3A1424491088 1424491088 PublicationIdentifier ISBN: 1424491088 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 422991 NO /api/publicationidentifier/422991 http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5783419 http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5783419 PublicationIdentifier Egyéb URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5783419 true 40 Other URL @@@ /api/publicationsource/40 Egyéb URL PlainSource Egyéb URL true true 10006 /api/publicationsourcetype/10006 PublicationSourceType Link true true 40 true false false 263830 /api/publication/1769451 Szakál A. 6th International Symposium on Applied Computational Intelligence and Informatics (SACI 2011): 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings. (2011) ISBN:9781424491094; 9781424491087; 9781424491070; 1424491096; 1424491088 true true 23 23 /api/publicationtype/23 PublicationType Könyv 3 true 23 Book 6th International Symposium on Applied Computational Intelligence and Informatics (SACI 2011) 1769451 false 1769451 false false true true true 10000144 Conference proceedings true 23 23 /api/publicationtype/23 PublicationType Könyv 3 true 23 Book /api/subtype/10000144 Konferenciakötet SubType Konferenciakötet (Könyv) 345 true 10000144 false Book 2011 true 1 /api/category/1 Category Tudományos true 1 false 10025544 Language 10002 /api/language/10002 Angol Angol English true 2 true PersonAuthorship 3347655 /api/authorship/3347655 Precup, Radu-Emil 1 0.125 true false Precup Radu-Emil true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121761 true PersonAuthorship 3347656 /api/authorship/3347656 Kovács, Levente [Kovács, Levente (Irányítástechnika), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK) 2 0.125 false false Author 10001992 /api/author/10001992 Kovács Levente (Irányítástechnika) Kovács Levente true 10001992 true Kovács Levente true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121760 true PersonAuthorship 3347657 /api/authorship/3347657 Haidegger, Tamás [Haidegger, Tamás (orvosi robotika é...), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK) 3 0.125 false false Author 10023855 /api/author/10023855 Haidegger Tamás (orvosi robotika és mesterséges intelligencia) Haidegger Tamás true 10023855 true Haidegger Tamás true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121759 true PersonAuthorship 3347658 /api/authorship/3347658 Preitl, Stefan 4 0.125 false false Preitl Stefan true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121758 true PersonAuthorship 3347659 /api/authorship/3347659 Kovács, Adalbert 5 0.125 false false Kovács Adalbert true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121757 true PersonAuthorship 3347660 /api/authorship/3347660 Benyó, Balázs [Benyó, Balázs István (Informatika, irán...), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK) 6 0.125 false false Author 10003351 /api/author/10003351 Benyó Balázs István (Informatika, irányítástechnika) Benyó Balázs István true 10003351 true Benyó Balázs true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121756 true PersonAuthorship 3347661 /api/authorship/3347661 Borbély, Endre [Borbély, Endre (villamosmérnök), szerző] Híradástechnikai Intézet (ÓE / KVK) 7 0.125 false false Author 10019536 /api/author/10019536 Borbély Endre (villamosmérnök) Borbély Endre true 10019536 true Borbély Endre true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121755 true PersonAuthorship 3347662 /api/authorship/3347662 Benyó, Zoltán [Benyó, Zoltán (Irányítástechnika), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK) 8 0.125 false true Author 10001499 /api/author/10001499 Benyó Zoltán (Irányítástechnika) Benyó Zoltán DUPLUM true 10001499 true Benyó Zoltán true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false 16121754 true PublicationIdentifier 599294 /api/publicationidentifier/599294 DOI: 10.1109/SACI.2011.5873019 PlainSource 6 /api/publicationsource/6 DOI PublicationSourceType 10001 /api/publicationsourcetype/10001 DOI true true true DOI DOI https://doi.org/@@@ true true 6 true false IDENTICAL 10.1109/SACI.2011.5873019 https://doi.org/10.1109/SACI.2011.5873019 false 372811 true PublicationIdentifier 599293 /api/publicationidentifier/599293 Scopus: 79960022320 PlainSource 3 /api/publicationsource/3 Scopus PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true false IDENTICAL 79960022320 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-79960022320 false 372812 true PublicationIdentifier 31544539 /api/publicationidentifier/31544539 Egyéb URL: http://ieeexplore.ieee.org/document/5873019/ PlainSource 40 /api/publicationsource/40 Egyéb URL PublicationSourceType 10006 /api/publicationsourcetype/10006 Link true true true Egyéb URL Other URL @@@ true true 40 true IDENTICAL http://ieeexplore.ieee.org/document/5873019/ http://ieeexplore.ieee.org/document/5873019/ false true PublicationIdentifier 599298 /api/publicationidentifier/599298 Handle: 10890/2049 PlainSource 152 /api/publicationsource/152 Handle PublicationSourceType 10006 /api/publicationsourcetype/10006 Link true true true Handle http://hdl.handle.net/@@@ true true 152 true false NO 10890/2049 http://hdl.handle.net/10890/2049 false 1446687 true PublicationIdentifier 599295 /api/publicationidentifier/599295 Google scholar: 18435744505447906101 PlainSource 12 /api/publicationsource/12 Google scholar PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Google scholar http://scholar.Google.com/scholar?hl=en&lr=&cluster=@@@ true true 12 true false NO 18435744505447906101 http://scholar.Google.com/scholar?hl=en&lr=&cluster=18435744505447906101 false 920974 true PublicationIdentifier 599296 /api/publicationidentifier/599296 Google scholar hash: NfsUcfPr2P8J PlainSource 13 /api/publicationsource/13 Google scholar hash PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Google scholar hash Google scholar hash http://scholar.Google.com/scholar?hl=en&lr=&cluster=@@@ true true 13 true false NO NfsUcfPr2P8J http://scholar.Google.com/scholar?hl=en&lr=&cluster=NfsUcfPr2P8J false 920975 true /api/publication/2137819 Precup Radu-Emil et al. Time Delay Compensation by Fuzzy Control in the Case of Master–Slave Telesurgery. (2011) Megjelent: 6th International Symposium on Applied Computational Intelligence and Informatics (SACI 2011) pp. 305-310<div class="BookChapter Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" >Precup Radu-Emil </span> ;    <span class="author-name" mtid="10001992"><a href="/gui2/?type=authors&mode=browse&sel=10001992" target="_blank">Kovács Levente (<span class="authorship-author-name">Kovács Levente</span> <span class="authorAux-mtmt"> Irányítástechnika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ;    <span class="author-name" mtid="10023855"><a href="/gui2/?type=authors&mode=browse&sel=10023855" target="_blank">Haidegger Tamás (<span class="authorship-author-name">Haidegger Tamás</span> <span class="authorAux-mtmt"> orvosi robotika és mesterséges intelligencia</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ;    <span class="author-name" >Preitl Stefan </span> ;    <span class="author-name" >Kovács Adalbert </span> ;    <span class="author-name" mtid="10003351"><a href="/gui2/?type=authors&mode=browse&sel=10003351" target="_blank">Benyó Balázs (<span class="authorship-author-name">Benyó Balázs István</span> <span class="authorAux-mtmt"> Informatika, irányítástechnika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ;    <span class="author-name" mtid="10019536"><a href="/gui2/?type=authors&mode=browse&sel=10019536" target="_blank">Borbély Endre (<span class="authorship-author-name">Borbély Endre</span> <span class="authorAux-mtmt"> villamosmérnök</span>) </a> </span> <span class="author-affil"><span title="Óbudai Egyetem">ÓE</span>/<span title="Kandó Kálmán Villamosmérnöki Kar">KVK</span>/Híradástechnikai Intézet</span> ;    <span class="author-name" mtid="10001499"><a href="/gui2/?type=authors&mode=browse&sel=10001499" target="_blank">Benyó Zoltán (<span class="authorship-author-name">Benyó Zoltán</span> <span class="authorAux-mtmt"> Irányítástechnika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;2137819" target="_blank">Time Delay Compensation by Fuzzy Control in the Case of Master–Slave Telesurgery</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype-1"> <span class="author-name" >Szakál A </span> (szerk.) </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse&params=publication;1769451" target="_blank">6th International Symposium on Applied Computational Intelligence and Informatics (SACI 2011) : 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings </a></div> <div class="conference"> Konferencia helye, ideje: <span class="location">Timisoara, Románia <span class="conference-date">2011.05.19. - 2011.05.21.</span> </div> <span class="publishedAt">Budapest: <span class="publishers">IEEE Hungary Section</span>, <span class="page"> pp 305-310 </span> <span class="year">(2011)</span> ( <span class="seriesTitle">IEEE International Symposium on Applied Computational Intelligence and Informatics</span> ) </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1109/SACI.2011.5873019" target="_blank" href="https://doi.org/10.1109/SACI.2011.5873019"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="79960022320" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-79960022320"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="http://ieeexplore.ieee.org/document/5873019/" target="_blank" href="http://ieeexplore.ieee.org/document/5873019/"> Egyéb URL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="10890/2049" target="_blank" href="http://hdl.handle.net/10890/2049"> Handle </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="18435744505447906101" target="_blank" href="http://scholar.Google.com/scholar?hl=en&lr=&cluster=18435744505447906101"> Google scholar </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="NfsUcfPr2P8J" target="_blank" href="http://scholar.Google.com/scholar?hl=en&lr=&cluster=NfsUcfPr2P8J"> Google scholar hash </a> </span> </span> <span class="bookchapter-ids">Befoglaló link(ek):</span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9781424491094" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9781424491094"> 9781424491094 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9781424491087" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9781424491087"> 9781424491087 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9781424491070" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9781424491070"> 9781424491070 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="1424491096" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A1424491096"> 1424491096 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="1424491088" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A1424491088"> 1424491088 </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5783419" target="_blank" href="http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5783419"> Egyéb URL </a> </span> </span> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 12</span> | Független: 6 | Függő: 6 | Nem jelölt: 0 | WoS jelölt: 7 | Scopus jelölt: 8 | WoS/Scopus jelölt: 8 | DOI jelölt: 7 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;2137819&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 5 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 2137819</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> <span class="long-book-mtid">Befoglaló: 1769451</span> <span class="oldId">Régi azonosító: 2137819</span> | Forrás Idéző | <span class="type-subtype">Könyvrészlet ( Konferenciaközlemény ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2022.12.05. 08:33 Lévayné Deseő Katalin (MTMT Központi admin) </div> <div class="lockedBy">Központi kezelésű 2022.12.15. 10:00 Lévayné Deseő Katalin (MTMT Központi admin) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary Dept. of Automation and Applied Informatics, Politehnica University of Timisoara, Timisoara, Romania Dept. of Mathematics, Politehnica University of Timisoara, Timisoara, Romania Kandó Kálmn Faculty, Ó...</pre> </div> </div>