## 1 Introduction  
The dismantling of a nuclear power plant (NPP) at the end of its life is an important issue. Among 160 NPP, nineteen of them have already been dismantled, and around one hundred are still under the process of dismantling [1; 2; 3]. The dismantling process has many stages. Among these, the complete dismantling of the structure and technical equipment, the gathering and storing of waste products, and the transportation of these items and the disposal of radioactive material in a controlled and safe environment are the most important. Automative/Tele-operated equipment/robot systems can play an important role in such scenarios. Past statistics show that several dismantling facilities based on robotic systems have worked well [4]. Thus, research is required to improve this technology in order to carry out the dismantling process efficiently. The remote handling of a system/plant can be divided into several subcategories depending upon the application. For example, cutting requirements/equipment, segmentation, de-contamination of area/building, sampling, and utilization of remote systems [5; 6; 7; 8; 9; 10; 11; 12]. France has developed a robotic system to dismantle nuclear power plants called the Maestro-robot-system [13; 14]. Some researchers have proposed the use of tele-operated systems for performing such activities. Tele-operated systems in nuclear environments provide the operator only with visual feedback in order to get a sense of the reality of the working environment by using existing technologies. In tele-operated tasks, a controller is designed for a patched-up master and slave system. It controls the information flow accordingly. This methodology is also known as bilateral control activity. Several research groups have previously published articles on bilateral control strategies [15; 16; 17; 18]. Two-channel architectures in bilateral control are the most popular. Force/force (F-F), position/position (P-P), position/force (P-F) and force/position (F-P) architecture designs are all two-channel architectures. Several other studies have also presented 3- or 4-channel architecture design for such activities [15; 16; 17; 18]. Some of them have also discussed recent advancements in architectural design, controller performance, etc. [19; 20]. [PERSON] et al. [21] proposed a design for a bilateral controller for application in non-linear tele-operated systems. In [22], the authors presented an idea for a finite time problem for bilateral control strategies. A tele-operated system was considered in this study, and an output-feedback approach was implemented. [PERSON] et al. [23] proposed an adaptive back stepping control strategy for the slave system, whereas the master system was controlled by designing a robust controller. [PERSON] et al. [24] utilized a sliding mode control scheme with sliding perturbation observer (SMCSPO) to determine the reaction force for a three-link robotic manipulator. An interesting design for a joystick controller for bilateral tele-operated tasks was presented by [PERSON] et al. [25]. The authors studied the results for application in construction machinery. The control strategy was based upon force-reflective gain in a master/slave system. A similar study for bilateral tele-operated tasks using underactuated mechanical systems was presented by [PERSON] et al. [26]. [PERSON] et al. [27] proposed the idea of utilizing adaptive neural fuzzy controllers with additional compensatory fuzzy control for a master/slave system. A force-position scheme was chosen, with an architecture based upon a two-channel bilateral tele-operative task. This strategy incorporates the localization of the slave device and the force reflection of master device. [PERSON] et al. [28] discussed stability and transparency in the case of communication delays. They implemented a model-mediated tele-operative scheme. [PERSON] et al. [29] presented a unique and novel idea whereby the remote controller was not co-located with the manipulator device. The authors further analyzed stability and transparency.