{"id":"https://openalex.org/W1967109052","doi":"https://doi.org/10.1002/rob.4620030402","title":"Linear multivariable control of two\u2010link robots","display_name":"Linear multivariable control of two\u2010link robots","publication_year":1986,"publication_date":"1986-12-01","ids":{"openalex":"https://openalex.org/W1967109052","doi":"https://doi.org/10.1002/rob.4620030402","mag":"1967109052"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620030402","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620030402","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/A5027386319","display_name":"H. Seraji","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Seraji","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109","Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California, 91109#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California, 91109#TAB#","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075853038","display_name":"Mohammad Jamshidi","orcid":"https://orcid.org/0000-0002-6558-9720"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Jamshidi","raw_affiliation_strings":["CAD Laboratory for Systems/Robotics, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, New Mexico 87131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAD Laboratory for Systems/Robotics, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, New Mexico 87131","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059167861","display_name":"Y. T. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. T. Kim","raw_affiliation_strings":["CAD Laboratory for Systems/Robotics, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, New Mexico 87131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAD Laboratory for Systems/Robotics, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, New Mexico 87131","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068537685","display_name":"Mohsen Shahinpoor","orcid":"https://orcid.org/0000-0002-2611-1257"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Shahinpoor","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, New Mexico 87131","Department of Mechanical Engineering , University of New Mexico , Albuquerque, New Mexico, 87131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, New Mexico 87131","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Mechanical Engineering , University of New Mexico , Albuquerque, New Mexico, 87131","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5638,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.94038005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":"4","first_page":"349","last_page":"365"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976999759674072,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976999759674072,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973999857902527,"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":0.996999979019165,"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/multivariable-calculus","display_name":"Multivariable calculus","score":0.9702402353286743},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8561808466911316},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.855817437171936},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5545981526374817},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5423773527145386},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5335073471069336},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.513752818107605},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4955102205276489},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4877520203590393},{"id":"https://openalex.org/keywords/derivative","display_name":"Derivative (finance)","score":0.4158995747566223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3761850595474243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33905312418937683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33690476417541504},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31258946657180786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14681395888328552},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.05802544951438904},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.0470411479473114}],"concepts":[{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.9702402353286743},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8561808466911316},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.855817437171936},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5545981526374817},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5423773527145386},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5335073471069336},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.513752818107605},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4955102205276489},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4877520203590393},{"id":"https://openalex.org/C111771559","wikidata":"https://www.wikidata.org/wiki/Q66295","display_name":"Derivative (finance)","level":2,"score":0.4158995747566223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3761850595474243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33905312418937683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33690476417541504},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31258946657180786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14681395888328552},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.05802544951438904},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0470411479473114},{"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/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620030402","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620030402","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":9,"referenced_works":["https://openalex.org/W1516493184","https://openalex.org/W1569867348","https://openalex.org/W1582353822","https://openalex.org/W2002660397","https://openalex.org/W2008065221","https://openalex.org/W2015847389","https://openalex.org/W2062372917","https://openalex.org/W2085539371","https://openalex.org/W4254948013"],"related_works":["https://openalex.org/W1576377477","https://openalex.org/W2224575301","https://openalex.org/W2721687755","https://openalex.org/W2086932047","https://openalex.org/W2388146630","https://openalex.org/W418212511","https://openalex.org/W1964208669","https://openalex.org/W2112363989","https://openalex.org/W2418502531","https://openalex.org/W2053253456"],"abstract_inverted_index":{"Abstract":[0],"Several":[1],"simple":[2],"multivariable":[3,31,43,69],"controllers":[4,44,70],"such":[5],"as":[6],"proportional":[7],"(P),":[8],"proportional\u2010derivative":[9],"(PD),":[10],"proportional\u2010integral":[11],"(PI),":[12],"and":[13,18,22],"proportional\u2010integral\u2010derivative":[14],"(PID)":[15],"are":[16,45,61],"investigated":[17],"designed":[19,46],"for":[20,71],"stabilization":[21],"regulation":[23],"of":[24,50,54,67],"a":[25,51],"two\u2010link":[26,73],"planar":[27,74],"robot.":[28,75],"A":[29],"new":[30],"controller":[32],"is":[33],"introduced":[34],"in":[35],"this":[36],"article":[37],"to":[38,63],"achieve":[39],"command":[40],"matching.":[41],"The":[42],"on":[47],"the":[48,55,65,68,72],"basis":[49],"linearized":[52],"model":[53],"robot":[56],"dynamics.":[57],"Numerous":[58],"simulation":[59],"results":[60],"presented":[62],"evaluate":[64],"performance":[66]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
