{"id":"https://openalex.org/W2015833613","doi":"https://doi.org/10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","title":"A new nonlinear gain structure for PD-type controllers in robotic applications","display_name":"A new nonlinear gain structure for PD-type controllers in robotic applications","publication_year":1999,"publication_date":"1999-11-01","ids":{"openalex":"https://openalex.org/W2015833613","doi":"https://doi.org/10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","mag":"2015833613"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004682597","display_name":"Tom Bucklaew","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tom P. Bucklaew","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, 316 Jarvis Hall, State University of New York at Buffalo, Buffalo, New York 14260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, 316 Jarvis Hall, State University of New York at Buffalo, Buffalo, New York 14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051776701","display_name":"Ching-Shi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ching-Shi Liu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, 316 Jarvis Hall, State University of New York at Buffalo, Buffalo, New York 14260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, 316 Jarvis Hall, State University of New York at Buffalo, Buffalo, New York 14260","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5004682597"],"corresponding_institution_ids":["https://openalex.org/I63190737"],"apc_list":null,"apc_paid":null,"fwci":1.5594,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82439531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"11","first_page":"627","last_page":"649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9991000294685364,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9987999796867371,"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/control-theory","display_name":"Control theory (sociology)","score":0.8141485452651978},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6780613660812378},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5666907429695129},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5616334676742554},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.509377121925354},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48467639088630676},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47039493918418884},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4384785294532776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4265940487384796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41625291109085083},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.41051116585731506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3271336555480957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14980337023735046}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8141485452651978},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6780613660812378},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5666907429695129},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5616334676742554},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.509377121925354},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48467639088630676},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47039493918418884},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4384785294532776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4265940487384796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41625291109085083},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.41051116585731506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3271336555480957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14980337023735046},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199911)16:11<627::aid-rob3>3.0.co;2-b","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W2033880740","https://openalex.org/W2048603489","https://openalex.org/W2073619388","https://openalex.org/W2084828843","https://openalex.org/W2106880431","https://openalex.org/W2136984159","https://openalex.org/W2165475750","https://openalex.org/W4388248887"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"This":[0,36],"article":[1],"introduces":[2],"a":[3,70,102],"generic":[4],"enhancement":[5,37],"to":[6,21,49,82,112],"certain":[7],"proportional":[8],"plus":[9],"differential":[10],"(PD)-type,":[11],"joint-space":[12],"controllers":[13],"for":[14,80],"robotic":[15],"manipulators":[16],"that":[17,46],"can":[18],"be":[19],"utilized":[20],"reduce":[22],"peak":[23],"levels":[24],"of":[25,32,41,60,73,91,105,118],"servo":[26],"output":[27],"without":[28],"increasing":[29],"the":[30,33,39,51,58,61,74,92,115],"duration":[31],"transient":[34],"response.":[35],"takes":[38],"form":[40],"nonlinear,":[42],"partially":[43],"hyperbolic":[44],"multipliers":[45],"are":[47,110],"applied":[48],"re-scale":[50],"error":[52],"signal":[53],"gains.":[54],"The":[55,89],"rationale":[56],"prompting":[57],"design":[59],"aforementioned":[62],"gain":[63],"structure":[64],"is":[65,78,96],"discussed":[66],"at":[67],"length,":[68],"and":[69,85,98],"mathematical":[71],"formulation":[72],"modified":[75],"control":[76,94],"law":[77],"presented":[79,111],"application":[81],"both":[83],"position":[84],"full":[86],"trajectory":[87],"control.":[88],"stability":[90],"suggested":[93],"strategy":[95],"addressed,":[97],"numerical":[99],"simulations":[100],"involving":[101],"three":[103],"degree":[104],"freedom":[106],"(3-DOF)":[107],"robot":[108],"model":[109],"demonstrate":[113],"quantitatively":[114],"potential":[116],"benefits":[117],"implementing":[119],"such.":[120],"\u00a91999":[121],"John":[122],"Wiley":[123],"&":[124],"Sons,":[125],"Inc.":[126]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-08-22T07:34:49.880490","created_date":"2025-10-10T00:00:00"}