{"id":"https://openalex.org/W1996208964","doi":"https://doi.org/10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","title":"Global stability analysis for some trajectory-tracking control schemes of robotic manipulators","display_name":"Global stability analysis for some trajectory-tracking control schemes of robotic manipulators","publication_year":2001,"publication_date":"2001-01-01","ids":{"openalex":"https://openalex.org/W1996208964","doi":"https://doi.org/10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","mag":"1996208964"},"language":"en","primary_location":{"id":"doi:10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","is_oa":false,"landing_page_url":"https://doi.org/10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","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/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073942420","display_name":"Huitang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huitang Chen","raw_affiliation_strings":["Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070820589","display_name":"Yuejuan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuejuan Wang","raw_affiliation_strings":["Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Tongji University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111546640","display_name":"Peng-Yung Woo","orcid":null},"institutions":[{"id":"https://openalex.org/I102502594","display_name":"Northern Illinois University","ror":"https://ror.org/012wxa772","country_code":"US","type":"education","lineage":["https://openalex.org/I102502594"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Peng-Yung Woo","raw_affiliation_strings":["Electrical Engineering Department, Northern Illinois University, Dekalb IL 60115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Northern Illinois University, Dekalb IL 60115","institution_ids":["https://openalex.org/I102502594"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111546640"],"corresponding_institution_ids":["https://openalex.org/I102502594"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.08670117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"18","issue":"2","first_page":"69","last_page":"75"},"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9983000159263611,"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":0.996999979019165,"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":0.8653168082237244},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7930977940559387},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6528306007385254},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6411926746368408},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6119741201400757},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.532353401184082},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.48732098937034607},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4714680016040802},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45597848296165466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4418557584285736},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42090386152267456},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4023565649986267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3950282037258148},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3724227547645569},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29783618450164795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1306585669517517},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07107418775558472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05966845154762268},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.05257236957550049}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8653168082237244},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7930977940559387},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6528306007385254},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6411926746368408},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6119741201400757},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.532353401184082},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.48732098937034607},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4714680016040802},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45597848296165466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4418557584285736},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42090386152267456},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4023565649986267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3950282037258148},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3724227547645569},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29783618450164795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1306585669517517},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07107418775558472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05966845154762268},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.05257236957550049},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","is_oa":false,"landing_page_url":"https://doi.org/10.1002/1097-4563(200102)18:2<69::aid-rob1006>3.0.co;2-e","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1583117945","https://openalex.org/W2053471784","https://openalex.org/W2070678224","https://openalex.org/W2092963446","https://openalex.org/W2111019179","https://openalex.org/W2133707450","https://openalex.org/W2171438612","https://openalex.org/W6826053210"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590","https://openalex.org/W1551235345"],"abstract_inverted_index":{"With":[0],"a":[1,28,36],"same":[2],"Lyapunov":[3],"function":[4],"defined,":[5],"the":[6,20,24,32,54,67,70],"stability,":[7],"robustness,":[8],"and":[9,31,61],"convergence":[10],"speed":[11],"of":[12,53,69],"three":[13,43,55],"widely":[14],"used":[15],"trajectory-tracking":[16,51],"control":[17,26,34,44,56,71],"schemes,":[18],"i.e.,":[19],"proportional-derivative":[21],"(PD)":[22],"control,":[23],"PD":[25,33],"with":[27,35],"feedforward":[29,38],"compensation,":[30,39],"calculated":[37],"are":[40,46,58,64],"presented.":[41],"All":[42],"schemes":[45,57],"globally":[47],"exponentially":[48],"convergent.":[49],"The":[50],"features":[52],"theoretically":[59],"analyzed":[60],"compared.":[62],"Suggestions":[63],"given":[65],"for":[66],"choices":[68],"parameters.":[72],"\u00a9":[73],"2001":[74],"John":[75],"Wiley":[76],"&":[77],"Sons,":[78],"Inc.":[79]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
