IEEE Transactions on Control Systems Technology

Article	Citations
Cautious Model Predictive Control Using Gaussian Process Regression	313
Optimization-Based Collision Avoidance	169
Autonomous Vehicle Kinematics and Dynamics Synthesis for Sideslip Angle Estimation Based on Consensus Kalman Filter	137
Accurate Tracking of Aggressive Quadrotor Trajectories Using Incremental Nonlinear Dynamic Inversion and Differential Flatness	118
Control Performance Standards-Oriented Event-Triggered Load Frequency Control for Power Systems Under Limited Communication Bandwidth	112
Finite-Time Unknown Observer-Based Interactive Trajectory Tracking Control of Asymmetric Underactuated Surface Vehicles	106
Trajectory Tracking Control for a Three-Dimensional Flexible Wing	93
Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping	85
Generalized Integrator-Extended State Observer With Applications to Grid-Connected Converters in the Presence of Disturbances	79
Collective Dynamics and Control for Multiple Unmanned Surface Vessels	77
A Data-Driven Cyclic-Motion Generation Scheme for Kinematic Control of Redundant Manipulators	76
Hierarchical MPC for Robust Eco-Cooling of Connected and Automated Vehicles and Its Application to Electric Vehicle Battery Thermal Management	76
Adaptive Pose Control for Spacecraft Proximity Operations With Prescribed Performance Under Spatial Motion Constraints	71
Advanced Valves and Pump Coordinated Hydraulic Control Design to Simultaneously Achieve High Accuracy and High Efficiency	69
Learning How to Autonomously Race a Car: A Predictive Control Approach	68
Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control	67
Embedded Model Predictive Control With Certified Real-Time Optimization for Synchronous Motors	62
Current-Limiting Droop Control Design and Stability Analysis for Paralleled Boost Converters in DC Microgrids	62
A New Adaptive-Robust Design for Time Delay Control Under State-Dependent Stability Condition	62
Online Capacity Estimation for Lithium-Ion Battery Cells via an Electrochemical Model-Based Adaptive Interconnected Observer	59
Individual Blade Pitch Control of Floating Offshore Wind Turbines for Load Mitigation and Power Regulation	56
Model-Free Prescribed Performance Control for Spacecraft Attitude Tracking	56
A Robust Predictive Control Approach for Underwater Robotic Vehicles	55
Robust PIDD2 Controller Design for Perturbed Load Frequency Control of an Interconnected Time-Delayed Power Systems	55
A Robust Data-Driven Fault Detection Approach for Rolling Mills With Unknown Roll Eccentricity	54

Fast and Accurate Motion Tracking of a Linear Motor System Under Kinematic and Dynamic Constraints: An Integrated Planning and Control Approach	54
Semiclosed Greenhouse Climate Control Under Uncertainty via Machine Learning and Data-Driven Robust Model Predictive Control	53
Distributed Demand Side Management With Stochastic Wind Power Forecasting	52
Modeling and Control of Tower Cranes With Elastic Structure	52
Self-Tuning Unbiased Finite Impulse Response Filtering Algorithm for Processes With Unknown Measurement Noise Covariance	52
A Critical Comparison of Excitation Force Estimators for Wave-Energy Devices	52
Optimal Path Following for Small Fixed-Wing UAVs Under Wind Disturbances	51
Geometric Adaptive Control With Neural Networks for a Quadrotor in Wind Fields	51
Neural Network Model Predictive Motion Control Applied to Automated Driving With Unknown Friction	49
Stationary Subspace Analysis-Based Hierarchical Model for Batch Processes Monitoring	49
Robust Formation Trajectory Tracking Control for Multiple Quadrotors With Communication Delays	48
Energy Management in Plug-In Hybrid Electric Vehicles: Convex Optimization Algorithms for Model Predictive Control	48
Compound-Fault Diagnosis of Rotating Machinery: A Fused Imbalance Learning Method	47
Joint Estimation of Battery Parameters and State of Charge Using an Extended Kalman Filter: A Single-Parameter Tuning Approach	47
Decentralized Data-Enabled Predictive Control for Power System Oscillation Damping	47
Fixed Switching Frequency Direct Model Predictive Control With Continuous and Discontinuous Modulation for Grid-Tied Converters With LCL Filters	47
Reinforcement Learning-Based Approximate Optimal Control for Attitude Reorientation Under State Constraints	45
Voltage Regulation in Buck–Boost Converters Feeding an Unknown Constant Power Load: An Adaptive Passivity-Based Control	45
Near-Optimal Rapid MPC Using Neural Networks: A Primal-Dual Policy Learning Framework	44
Exponential Regulation Control of a Quadrotor Unmanned Aerial Vehicle With a Suspended Payload	42
Energy Management Strategy for Plug-in-Hybrid Electric Vehicles Based on Predictive PMP	42
Multi-Agent Formation Tracking for Autonomous Surface Vehicles	41
Linear System Identification Versus Physical Modeling of Lateral–Longitudinal Vehicle Dynamics	40
Distributed Surrounding Control of Multiple Unmanned Surface Vessels With Varying Interconnection Topologies	40
A Novel Robust Observer-Based Nonlinear Trajectory Tracking Control Strategy for Quadrotors	40
Event-Triggered Formation Control for a Class of Uncertain Euler–Lagrange Systems: Theory and Experiment	40
A Single-Level Rule-Based Model Predictive Control Approach for Energy Management of Grid-Connected Microgrids	39
Vision-Based Formation Control of Mobile Robots With FOV Constraints and Unknown Feature Depth	39
Fixed-Time Formation Control for Wheeled Mobile Robots With Prescribed Performance	38
Iterative Learning Operation Control of High-Speed Trains With Adhesion Dynamics	37
Optimal Control of Connected and Automated Vehicles at Multiple Adjacent Intersections	37
Model-Based Estimation of Lithium Concentrations and Temperature in Batteries Using Soft-Constrained Dual Unscented Kalman Filtering	36
An Adaptive Line-of-Sight (ALOS) Guidance Law for Path Following of Aircraft and Marine Craft	36
Distributed Secondary Control for Voltage Regulation and Optimal Power Sharing in DC Microgrids	35
Nonlinear Energy-Maximizing Optimal Control of Wave Energy Systems: A Moment-Based Approach	35
An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities	34
Distributed Control of Multizone HVAC Systems Considering Indoor Air Quality	34
Persistification of Robotic Tasks	34
Interior Point Differential Dynamic Programming	33
Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems	32
Hierarchical Control in Islanded DC Microgrids With Flexible Structures	32
Data-Driven Immersion and Invariance Adaptive Attitude Control for Rigid Bodies With Double-Level State Constraints	32
Peer-to-Peer Relative Localization of Aerial Robots With Ultrawideband Sensors	32
Impedance Learning-Based Adaptive Control for Human–Robot Interaction	32
Fuel Efficient Connected Cruise Control for Heavy-Duty Trucks in Real Traffic	32
Nonlinear Double-Capacitor Model for Rechargeable Batteries: Modeling, Identification, and Validation	31
Distributed Model-Free Adaptive Predictive Control for Urban Traffic Networks	31
Fault-Relevant Optimal Ensemble ICA Model for Non-Gaussian Process Monitoring	30
Driver Modeling Through Deep Reinforcement Learning and Behavioral Game Theory	29
Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines	29

Safety-Critical Control With Input Delay in Dynamic Environment	29
Comments on Control of Wave Energy Converters	28
Tracking Control of a Flexible String System Based on Iterative Learning Control	28
Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments	28
Modeling and Robust Continuous TSM Control for an Inertially Stabilized Platform With Couplings	28
A KPI-Based Soft Sensor Development Approach Incorporating Infrequent, Variable Time Delayed Measurements	28
Stability Analysis of Sampled-Data Load Frequency Control Systems With Multiple Delays	27
Fully Distributed Joint Localization and Target Tracking With Mobile Robot Networks	27
Hybrid Vision/Force Control of Soft Robot Based on a Deformation Model	27
Air–Fuel Ratio Control of Spark Ignition Engines With Unknown System Dynamics Estimator: Theory and Experiments	27
Constrained Inverse Optimal Control With Application to a Human Manipulation Task	27
Risk-Averse Model Predictive Operation Control of Islanded Microgrids	27
Event-Triggered State Estimation of Linear Systems Using Moving Horizon Estimation	27
Nonstationary Process Monitoring for Blast Furnaces Based on Consistent Trend Feature Analysis	27
Generalized Iterative Learning Control Using Successive Projection: Algorithm, Convergence, and Experimental Verification	27
Distributed Localization and Circumnavigation Algorithms for a Multiagent System With Persistent and Intermittent Bearing Measurements	27
A Holistic Probabilistic Framework for Monitoring Nonstationary Dynamic Industrial Processes	26
Nonlinear Model Predictive Control of a Variable-Speed Pumped-Storage Power Plant	26
A Novel Attitude-Tracking Control for Spacecraft Networks With Input Delays	26
Long-Horizon Vehicle Motion Planning and Control Through Serially Cascaded Model Complexity	26
Robust Extended Kalman Filtering for Systems With Measurement Outliers	26
Data-Driven Distributed Combined Primary and Secondary Control in Microgrids	26
Model Predictive Control of Phase Shift Full-Bridge DC–DC Converter Using Laguerre Functions	25
Model Predictive Active Power Control for Optimal Structural Load Equalization in Waked Wind Farms	25
A Switching Control Perspective on the Offshore Construction Scenario of Heavy-Lift Vessels	25
Dynamic Decentralized Periodic Event-Triggered Control for Wireless Cyber–Physical Systems	25
Artificial Pancreas System With Unannounced Meals Based on a Disturbance Observer and Feedforward Compensation	25
Surge Disturbance Suppression of AMB-Rotor Systems in Magnetically Suspension Centrifugal Compressors	25
Distributed Optimization Using ALADIN for MPC in Smart Grids	25
Position Tracking Control of Remotely Operated Underwater Vehicles With Communication Delay	25
Leak Localization Method for Water-Distribution Networks Using a Data-Driven Model and Dempster–Shafer Reasoning	25
Adaptive Output-Feedback Control for Dual Overhead Crane System With Enhanced Anti-Swing Performance	25
Optimized Impedance Adaptation of Robot Manipulator Interacting With Unknown Environment	25
Fault Diagnosis of Rotating Machinery With Limited Expert Interaction: A Multicriteria Active Learning Approach Based on Broad Learning System	25
Scalable Model Predictive Control for Autonomous Mobility-on-Demand Systems	24
Formation Control With Time-Varying Formations, Bounded Controls, and Local Collision Avoidance	24
Eco-Cooling Control Strategy for Automotive Air-Conditioning System: Design and Experimental Validation	24
Enhanced Current-Limiting Droop Controller for Grid-Connected Inverters to Guarantee Stability and Maximize Power Injection Under Grid Faults	24
Distributed Voltage Regulation for Low-Voltage and High-PV-Penetration Networks With Battery Energy Storage Systems Subject to Communication Delay	24
Formation Control of Stochastic Multivehicle Systems	24
PDE Traffic Observer Validated on Freeway Data	24
Design and Experimental Verification of Real-Time Nonlinear Predictive Controller for Improving the Stability of Production Vehicles	24
Multihorizon Model Predictive Control: An Application to Integrated Power and Thermal Management of Connected Hybrid Electric Vehicles	24
A Predictive Control Approach for Cooperative Transportation by Multiple Underwater Vehicle Manipulator Systems	23
Adaptive Saturated Fault-Tolerant Control for Spacecraft Rendezvous With Redundancy Thrusters	23
Sensorless Optimal Interaction Control Exploiting Environment Stiffness Estimation	23
Secure State Estimation Using Hybrid Homomorphic Encryption Scheme	23
Modeling and Control of Drill-String System With Stick-Slip Vibrations Using LPV Technique	23
Composite Experience Replay-Based Deep Reinforcement Learning With Application in Wind Farm Control	23
Cooperative Distributed Estimation and Control of Multiple Autonomous Vehicles for Range-Based Underwater Target Localization and Pursuit	23
Boundary Output Feedback Control for a Flexible Two-Link Manipulator System With High-Gain Observers	23
A Novel Delay-Dependent Finite-Time Control of Telerobotics System With Asymmetric Time-Varying Delays	23
Active Disturbance Rejection Based Repetitive Learning Control With Applications in Power Inverters	22
Iterative Learning Control for Path-Following Tasks With Performance Optimization	22
Closed-Loop Cadence and Instantaneous Power Control on a Motorized Functional Electrical Stimulation Cycle	22
Distributed Affine Formation Maneuver Control of Autonomous Surface Vehicles With Event-Triggered Data Transmission Mechanism	22
Task Learning, Intent Prediction, and Adaptive Blended Shared Control With Application to Excavators	22
Resilient Unscented Kalman Filtering Fusion With Dynamic Event-Triggered Scheme: Applications to Multiple Unmanned Aerial Vehicles	22
Adaptive Control Design and Evaluation for Multibody High-Speed Train Dynamic Models	22
Experimental Implementation and Validation of a Broadband LTI Energy-Maximizing Control Strategy for the Wavestar Device	22
Resilient Flight Control: An Architecture for Human Supervision of Automation	22
Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles	22
Model-Predictive Control With Inverse Statics Optimization for Tensegrity Spine Robots	22
High-Order Sliding-Mode Control With Predefined Convergence Time for Electropneumatic Actuator	22
Distributed Time-Varying Optimization With State-Dependent Gains: Algorithms and Experiments	22
Fault Modeling, Estimation, and Fault-Tolerant Steering Logic Design for Single-Gimbal Control Moment Gyro	22
Stochastic Optimal Control of HVAC System for Energy-Efficient Buildings	22
An Improved Approach to Iterative Learning Control for Uncertain Systems	22
Direct Multivariate Intrinsic Time-Scale Decomposition for Oscillation Monitoring	22
Delay Compensation-Based Time Synchronization Under Random Delays: Algorithm and Experiment	21
Robust Fault Diagnosis for Adaptive Structures With Unknown Stochastic Disturbances	21
Adaptive Control for Mechanical Ventilation for Improved Pressure Support	21
A Tube-Based Model Predictive Control Method to Regulate a Knee Joint With Functional Electrical Stimulation and Electric Motor Assist	21
Trajectory Tracking Control Design for Large-Scale Linear Dynamical Systems With Applications to Soft Robotics	21
A Hybrid Controller for Multi-Agent Collision Avoidance via a Differential Game Formulation	21
Flight Control for UAV Loitering Over a Ground Target With Unknown Maneuver	21
LIDAR-Assisted Exact Output Regulation for Load Mitigation in Wind Turbines	21
An Iterative Learning Controller for a Switched Cooperative Allocation Strategy During Sit-to-Stand Tasks with a Hybrid Exoskeleton	21
Distributed Model Predictive Control for More Electric Aircraft Subsystems Operating at Multiple Time Scales	21
DeeP-LCC: Data-EnablEd Predictive Leading Cruise Control in Mixed Traffic Flow	20

Identifying Position-Dependent Mechanical Systems: A Modal Approach Applied to a Flexible Wafer Stage	20
Learning-Based SMPC for Reference Tracking Under State-Dependent Uncertainty: An Application to Atmospheric Pressure Plasma Jets for Plasma Medicine	20
Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs	20
Experimental Results on the Robust and Adaptive Control of Robot Manipulators Without Velocity Measurements	20
PDE-Based Feedback Control of Freeway Traffic Flow via Time-Gap Manipulation of ACC-Equipped Vehicles	19
Hierarchical Model Predictive Control for On-Line High-Speed Railway Delay Management and Train Control in a Dynamic Operations Environment	19
Optimal Control of Active Cell Balancing: Extending the Range and Useful Lifetime of a Battery Pack	19
Adaptive Force and Position Control Based on Quasi-Time Delay Estimation of Exoskeleton Robot for Rehabilitation	19
Nonlinear Control Design for Regenerative and Hybrid Antilock Braking in Electric Vehicles	19
Multi-Agent Coordination of Thermostatically Controlled Loads by Smart Power Sockets for Electric Demand Side Management	19
Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks	19
Energy-Optimal Control for Autonomous Underwater Vehicles Using Economic Model Predictive Control	19
Underwater Intervention With Remote Supervision via Satellite Communication: Developed Control Architecture and Experimental Results Within the Dexrov Project	19
Vehicle Speed and Gear Position Co-Optimization for Energy-Efficient Connected and Autonomous Vehicles	19
Human–Robot Interaction Control Based on a General Energy Shaping Method	19
Composite Adaptive Attitude-Tracking Control With Parameter Convergence Under Finite Excitation	19
Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV	19
Flatness-Based Quadcopter Trajectory Planning and Tracking With Continuous-Time Safety Guarantees	18
On Prediction Model Fidelity in Explicit Nonlinear Model Predictive Vehicle Stability Control	18
Reinforcement Learning Versus PDE Backstepping and PI Control for Congested Freeway Traffic	18
Speed Control of Permanent Magnet Synchronous Motor With Uncertain Parameters and Unknown Disturbance	18
Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles	18
A Testable Robust Stability Framework for the Variable Impedance Control of 1-DOF Exoskeleton With Variable Stiffness Actuator	18
A Small Opening Workspace Control Strategy for Redundant Manipulator Based on RCM Method	18
Fault-Tolerant Soft Sensors for Dynamic Systems	18
Learning Control of Quantum Systems Using Frequency-Domain Optimization Algorithms	18
A Stochastic Event-Triggered Robust Cubature Kalman Filtering Approach to Power System Dynamic State Estimation With Non-Gaussian Measurement Noises	17
Distributed Formation Control for Multiagent Systems Using a Fractional-Order Proportional–Integral Structure	17
Formation Control for Leader–Follower Wheeled Mobile Robots Based on Embedded Control Technique	17
Antisway Control of a Multirotor With Cable-Suspended Payload	17
Intelligent Integrated Control for Burn-Through Point to Carbon Efficiency Optimization in Iron Ore Sintering Process	17
Online Convex Optimization of Multi-Energy Building-to-Grid Ancillary Services	17
Actively Tuned Noncollocated Vibration Absorption: An Unexplored Venue in Vibration Science and a Benchmark Problem	17
A Velocity Algorithm for Nonlinear Model Predictive Control	16
Stability Guarantees for Translational Thrust-Propelled Vehicles Dynamics Through NMPC Designs	16
A Self-Tuning KPCA-Based Approach to Fault Detection in Chiller Systems	16
Motion Prediction and Robust Tracking of a Dynamic and Temporarily-Occluded Target by an Unmanned Aerial Vehicle	16
Implementation of Model Predictive Control in Programmable Logic Controllers	16
Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach	16
Adaptive Estimation of Play Radii for a Prandtl–Ishlinskii Hysteresis Operator	16
Inversion-Free Hysteresis Compensation via Adaptive Conditional Servomechanism With Application to Nanopositioning Control	16
Design of Aggregators for the Day-Ahead Management of Microgrids Providing Active and Reactive Power Services	16
Algorithms for Adaptive Feedforward Noise Attenuation—A Unified Approach and Experimental Evaluation	15
Adaptive Estimation of Asymmetric Dead-Zone Parameters for Sandwich Systems	15
Model Predictive Path-Following Control of Snake Robots Using an Averaged Model	15
Robust Active Mirror Control Based on Hybrid Sensing for Spacecraft Line-of-Sight Stabilization	15
An Event-Triggered Distributed Control Architecture for Scheduling Information Exchange in Networked Multiagent Systems	15
Curve Tilting With Nonlinear Model Predictive Control for Enhancing Motion Comfort	15
Adaptive Robust Data-Driven Building Control via Bilevel Reformulation: An Experimental Result	15
Experimental Testing of a Preview-Enabled Model Predictive Controller for Blade Pitch Control of Wind Turbines	15
Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach	15
Hybrid Global Finite-Time Dual-Quaternion Observer and Controller for Velocity-Free Spacecraft Pose Tracking	15
Reference-Tracking Control Policies for Packetized Coordination of Heterogeneous DER Populations	15
Operation of Natural Gas Pipeline Networks With Storage Under Transient Flow Conditions	14
Hierarchical Centralized/Decentralized Event-Triggered Control of Multiclass Traffic Networks	14
Autonomous-Driving Vehicle Control With Composite Velocity Profile Planning	14
Multirobot System Formation Control With Multiple Performance and Feasibility Constraints	14
Embedded Model Predictive Control for a Wearable Artificial Pancreas	14
Real-Time Optimal Torque Control of Interior Permanent Magnet Synchronous Motors Based on a Numerical Optimization Technique	14
An Internal Model Control-Based Approach for Characterization and Controller Tuning of Turbocharged Gasoline Engines	14
Symbolic Scheduling of Robotic Cellular Manufacturing Systems With Timed Petri Nets	14
Quantum Hamiltonian Identification With Classical Colored Measurement Noise	14
Joint Optimization for Coordinated Charging Control of Commercial Electric Vehicles Under Distributed Hydrogen Energy Supply	14
Optimal Control Strategies for Seasonal Thermal Energy Storage Systems With Market Interaction	14
Dual Quaternion Particle Filtering for Pose Estimation	14
Closed-Loop Neuromuscular Electrical Stimulation Method Provides Robustness to Unknown Time-Varying Input Delay in Muscle Dynamics	14
A Game-Theoretic Framework for Multiperiod-Multicompany Demand Response Management in the Smart Grid	14
Electric Satellite Station Keeping, Attitude Control, and Momentum Management by MPC	14
Control of Phase Shift in Two-Rotor Vibration Units	14
A Novel Subspace-Aided Fault Detection Approach for the Drive Systems of Rolling Mills	14
Vibration Suppression for Coupled Wave PDEs in Deep-Sea Construction	14
Reachability-Based Decision-Making for Autonomous Driving: Theory and Experiments	14
Sensor Selection Embedded in Active Fault Diagnosis Algorithms	14
Delay-Adaptive Control of a 7-DOF Robot Manipulator: Design and Experiments	14
Consensus-Based Current Sharing and Voltage Balancing in DC Microgrids With Exponential Loads	14
Nonlinear System Identification With Robust Multiple Model Approach	13
Bounded Integral Controller With Limited Control Power for Nonlinear Multiple-Input Multiple-Output Systems	13
Structured Principal Component Analysis Model With Variable Correlation Constraint	13
Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning	13
Data-Driven Wind Farm Control via Multiplayer Deep Reinforcement Learning	13
Adaptive Fault-Tolerant Control of a Probe-and-Drogue Refueling Hose Under Varying Length and Constrained Output	13
Differential Privacy Energy Management for Islanded Microgrids With Distributed Consensus-Based ADMM Algorithm	13
Knowledge-Data-Driven Flexible Switching Control for Wastewater Treatment Process	13
Modeling for Non-Markovian Quantum Systems	13
Reactive Navigation of an Unmanned Aerial Vehicle With Perception-Based Obstacle Avoidance Constraints	13
Optimal Dynamic Transmission Scheduling for Wireless Networked Control Systems	13
Combined Plant and Control Co-Design for Robust Disturbance Rejection in Thermal-Fluid Systems	13
An Active Perception Framework for Autonomous Underwater Vehicle Navigation Under Sensor Constraints	13
Variational Identification of Linearly Parameterized Nonlinear State-Space Systems	13
Stochastic Model Predictive Control Based Reference Planning for Automated Open-Water Channels	13
Predictive Energy Management for Hybrid Electric Aircraft Propulsion Systems	13
C-GLISp: Preference-Based Global Optimization Under Unknown Constraints With Applications to Controller Calibration	13
f²IMU-R: Pedestrian Navigation by Low-Cost Foot-Mounted Dual IMUs and Interfoot Ranging	13
Multirotors From Takeoff to Real-Time Full Identification Using the Modified Relay Feedback Test and Deep Neural Networks	13
Multilateral Teleoperation Over Communication Time Delay Using the Time-Domain Passivity Approach	13