{"id":"https://openalex.org/W3085397643","doi":"https://doi.org/10.1016/j.ifacol.2020.12.1420","title":"RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments","display_name":"RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3085397643","doi":"https://doi.org/10.1016/j.ifacol.2020.12.1420","mag":"3085397643"},"language":"en","primary_location":{"id":"doi:10.1016/j.ifacol.2020.12.1420","doi":"https://doi.org/10.1016/j.ifacol.2020.12.1420","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2020.12.1420","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W3085397643"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.ifacol.2020.12.1420","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046242224","display_name":"G. Hassan","orcid":"https://orcid.org/0000-0002-2527-9269","observed_orcids":["https://orcid.org/0000-0002-2527-9269"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR","LB"],"is_corresponding":true,"raw_author_name":"G. Hassan","raw_affiliation_strings":["CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon","LIRMM, University of Montpellier, CNRS, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]},{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473","observed_orcids":["https://orcid.org/0000-0001-9739-9473"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"A. Chemori","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069726342","display_name":"Lotfi Chikh","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"L. Chikh","raw_affiliation_strings":["TECNALIA, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TECNALIA, Montpellier, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031828740","display_name":"Pierre-Elie Herv\u00e9","orcid":"https://orcid.org/0000-0003-0289-7379","observed_orcids":["https://orcid.org/0000-0003-0289-7379"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"P.E. Herv\u00e9","raw_affiliation_strings":["TECNALIA, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TECNALIA, Montpellier, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064217457","display_name":"Maher El Rafei","orcid":"https://orcid.org/0000-0003-3636-0174","observed_orcids":["https://orcid.org/0000-0003-3636-0174"]},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"M. El Rafei","raw_affiliation_strings":["CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069358974","display_name":"C. Francis","orcid":"https://orcid.org/0009-0004-3819-9032","observed_orcids":["https://orcid.org/0009-0004-3819-9032"]},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"C. Francis","raw_affiliation_strings":["CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Faculty of Engineering, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128487","display_name":"Fran\u00e7ois Pierrot","orcid":"https://orcid.org/0000-0002-9638-4357","observed_orcids":["https://orcid.org/0000-0002-9638-4357"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"F. Pierrot","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026408399","https://openalex.org/A5031828740","https://openalex.org/A5039128487","https://openalex.org/A5046242224","https://openalex.org/A5064217457","https://openalex.org/A5069358974","https://openalex.org/A5069726342"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I160368002","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":null,"fwci":1.0468,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72583906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":87,"max":98},"biblio":{"volume":"53","issue":"2","first_page":"8519","last_page":"8524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9160000085830688,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9160000085830688,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.03579999879002571,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.030500000342726707,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cable-driven-parallel-robots","display_name":"cable-driven parallel robots","score":0.9919999837875366},{"id":"https://openalex.org/keywords/rise-control","display_name":"RISE control","score":0.859000027179718},{"id":"https://openalex.org/keywords/robust-integral-of-the-sign-of-the-error","display_name":"robust integral of the sign of the error","score":0.8730000257492065},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.7730000019073486},{"id":"https://openalex.org/keywords/semi-global-asymptotic-stability","display_name":"semi-global asymptotic stability","score":0.8059999942779541},{"id":"https://openalex.org/keywords/parameter-uncertainty","display_name":"parameter uncertainty","score":0.7409999966621399},{"id":"https://openalex.org/keywords/payload-variation","display_name":"payload variation","score":0.7049999833106995},{"id":"https://openalex.org/keywords/redundant-actuation","display_name":"redundant actuation","score":0.6269999742507935},{"id":"https://openalex.org/keywords/robust-nonlinear-control","display_name":"robust nonlinear control","score":0.5609999895095825},{"id":"https://openalex.org/keywords/sliding-mode-control-comparison","display_name":"sliding mode control comparison","score":0.703000009059906}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8526617884635925},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6865293383598328},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5850691795349121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.554269015789032},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5296955704689026},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5164861679077148},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5090882182121277},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4908235967159271},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.47870567440986633},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4636671841144562},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4587140679359436},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4320030212402344},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36171743273735046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2960391938686371},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16955137252807617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1397710144519806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08516475558280945},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.ifacol.2020.12.1420","doi":"https://doi.org/10.1016/j.ifacol.2020.12.1420","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2020.12.1420","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},{"id":"pmh:oai:HAL:lirmm-02899141v1","doi":null,"is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02899141v1/document","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.ifac2020.org/","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:dsp.tecnalia.com:11556/4263","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/11556/4263","pdf_url":null,"source":{"id":"https://openalex.org/S4306402037","display_name":"TECNALIA Publications (Fundaci\u00f3n TECNALIA Research & Innovation)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210113430","host_organization_name":"Tecnalia","host_organization_lineage":["https://openalex.org/I4210113430"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"}],"best_oa_location":{"id":"doi:10.1016/j.ifacol.2020.12.1420","doi":"https://doi.org/10.1016/j.ifacol.2020.12.1420","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2020.12.1420","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W14261909","https://openalex.org/W66280226","https://openalex.org/W114819554","https://openalex.org/W119860998","https://openalex.org/W1015078394","https://openalex.org/W1761151984","https://openalex.org/W1984109892","https://openalex.org/W2004070105","https://openalex.org/W2014694653","https://openalex.org/W2015805835","https://openalex.org/W2025702470","https://openalex.org/W2027986824","https://openalex.org/W2054102146","https://openalex.org/W2056452519","https://openalex.org/W2093454908","https://openalex.org/W2095631872","https://openalex.org/W2101433417","https://openalex.org/W2108412605","https://openalex.org/W2135879063","https://openalex.org/W2136292915","https://openalex.org/W2138950221","https://openalex.org/W2158918709","https://openalex.org/W2161085359","https://openalex.org/W2163063471","https://openalex.org/W2167515250","https://openalex.org/W2205620383","https://openalex.org/W2581801868","https://openalex.org/W2988649018","https://openalex.org/W3003479352","https://openalex.org/W4232027606","https://openalex.org/W4245348141","https://openalex.org/W4285719527","https://openalex.org/W7148884279"],"related_works":["https://openalex.org/W4386042071","https://openalex.org/W2729425526","https://openalex.org/W3036518574","https://openalex.org/W4322709207","https://openalex.org/W3017598691","https://openalex.org/W4410956274","https://openalex.org/W2774703707","https://openalex.org/W4403022151","https://openalex.org/W4312204915","https://openalex.org/W2899753591"],"abstract_inverted_index":{"Control":[0,146],"of":[1,53,56,66,150],"Cable-Driven":[2,121],"Parallel":[3,122],"Robots":[4],"(CDPRs)":[5],"is":[6,34,73,109],"considered":[7],"as":[8],"a":[9,31,50,74,82,117],"challenging":[10],"task":[11],"due":[12],"to":[13,36,62],"their":[14],"highly":[15],"nonlinear":[16,76],"dynamic":[17],"behavior,":[18],"abundant":[19],"uncertainties,":[20],"low-stiff":[21],"cables,":[22],"parameters":[23],"variation,":[24],"cable":[25],"tensions,":[26],"and":[27,102,111,141,153],"actuation":[28],"redundancy.":[29],"Hence,":[30],"robust":[32,75],"controller":[33,78,135,140],"needed":[35],"obtain":[37],"higher":[38],"performance":[39],"despite":[40],"the":[41,54,57,64,90,95,133,137,142],"above":[42],"mentioned":[43],"issues.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48],"propose":[49],"Robust":[51],"Integral":[52],"Sign":[55],"Error":[58],"(RISE)":[59],"control":[60,72,107],"scheme":[61],"solve":[63],"problem":[65],"reference":[67],"trajectory":[68],"tracking.":[69],"RISE":[70,93],"feedback":[71],"continuous":[77],"which":[79],"can":[80],"guarantee":[81],"semi-global":[83],"asymptotic":[84],"tracking":[85,151],"under":[86],"limited":[87],"assumptions":[88],"on":[89,116],"system\u2019s":[91],"structure.":[92],"ensures":[94],"closed-loop":[96],"system":[97],"robustness":[98,154],"towards":[99,155],"parametric":[100],"uncertainties":[101],"external":[103],"disturbances.":[104],"The":[105,127],"proposed":[106,134],"solution":[108],"designed":[110],"implemented":[112],"in":[113,148],"real-time":[114],"experiments":[115],"fully":[118],"constrained":[119],"4-DOF":[120],"Robot":[123],"(CDPR)":[124],"named":[125],"PICKABLE.":[126],"obtained":[128],"experimental":[129],"results":[130],"show":[131],"that":[132],"outperforms":[136],"classical":[138],"PID":[139],"first-order":[143],"Sliding":[144],"Mode":[145],"(SMC)":[147],"terms":[149],"performances":[152],"payload":[156],"variations.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-09-21T00:00:00"}