Nonlinear predictive control for bilateral scaled teleoperation systems using a πflat output: Theory and experiments. - Tahar Slama; Didier Aubry; Roberto Oboe; Frédéric Kratz (CDC, 2007)

Experimental Analysis of an Internet-Based Bilateral Teleoperation System With Motion and Force Scaling Using a Model Predictive Controller. - Tahar Slama; Alberto Trevisani; Didier Aubry; Roberto Oboe; Frédéric Kratz (IEEE Trans. Ind. Electron., 2008)