Nikita Barabanov

North Dakota State University, Saint Petersburg State Electrotechnical University

Papers

Total Citations

543

H-Index

About

Nikita Barabanov is a leading figure in the field of bilateral teleoperation, where his work has fundamentally advanced the stability and performance of robotic systems controlled over networks. His research centers on passivity-based control, specifically tackling the critical challenges of position and force tracking in the presence of communication delays. Barabanov’s major contributions include the development of a globally stable PD controller for bilateral teleoperators, a landmark paper with 277 citations that resolved long-standing stability issues. He also pioneered methods to eliminate position drift, a persistent problem in teleoperation, as detailed in his highly cited 2006 work (210 citations) on steady-state tracking performance. By rigorously proving that passivity-based schemes could guarantee both robust stability and accurate position tracking, Barabanov’s research has directly influenced the design of modern surgical robots and remote manipulation systems. His notable achievement lies in bridging the gap between theoretical passivity and practical tracking fidelity, making his work essential reading for anyone studying networked control systems or haptic interfaces.