https://m2.mtmt.hu/ eng 2026-05-25 12:47 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 true 10023855 2026-02-26T09:55:36.158+0000 2019-08-13T10:48:01.374+0000 true 10015683 Hostyánszki Zsuzsa /api/admin/10015683 Admin true 10015683 Admin 10025544 /api/admin/10025544 Lévayné Deseő Katalin true 10025544 true 2022-12-15T09:00:01.457+0000 true false true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType 228 true 10000312 true 1 /api/category/1 Category 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 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NfsUcfPr2P8J http://scholar.Google.com/scholar?hl=en&lr=&cluster=NfsUcfPr2P8J false 920975 true /api/publication/2137819 <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> ;&nbsp;&nbsp;&nbsp; <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="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <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="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Preitl Stefan </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Kovács Adalbert </span> ;&nbsp;&nbsp;&nbsp; <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="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <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="Óbuda University">ÓU</span>/<span title="Kandó Kálmán Faculty of Electrical Engineering">KKFEE</span>/Institute of Communication Engineering</span> ;&nbsp;&nbsp;&nbsp; <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="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</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> (eds.) </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"> Conference: <span class="location">Temesvár, Romania <span class="conference-date">2011.05.19. - 2011.05.21.</span> </div> <span class="publishedAt">Bp: <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">Language: English | </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/"> Other 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">Book link(s):</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"> Other URL </a> </span> </span> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="" class="citingPub-count">Citing papers: 12</span> | Independent citation: 6 | Self citation: 6 | Unknown citation: 0 | Number of citations in WoS: 7 | Number of citations in Scopus:&nbsp;8 | WoS/Scopus assigned:&nbsp;8 | Number of citations with DOI:&nbsp;7 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;2137819&sort=publishedYear,desc&sort=title"> Number of cited publications: 5 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 2137819</span> | <span class="status-data status-ADMIN_APPROVED"> Admin approved </span> <span class="long-book-mtid">Book: 1769451</span> <span class="oldId">Old id: 2137819</span> | Core Citing | <span class="type-subtype">Chapter in Book ( Conference paper ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Last Modified: 2022.12.05. 08:33 Katalin Lévayné Deseő (MTMT Központi admin) </div> <div class="lockedBy">Centrally managed 2022.12.15. 10:00 Katalin Lévayné Deseő (MTMT Központi admin) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Comments</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>