Control of teleoperation systems in the presence of cyber attacks: A survey

Mutaz M. Hamdan, Magdi S. Mahmoud


The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.


Bilateral Teleoperation System; Cyber Attack; Passivity based control; Wave variable-based control; Denial of service (DoS) attack; Telesurgical Robot Systems

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