{"id":"https://openalex.org/W2026670990","doi":"https://doi.org/10.1002/rob.4620040505","title":"Nonlinear repetitive control with application to trajectory control of manipulators","display_name":"Nonlinear repetitive control with application to trajectory control of manipulators","publication_year":1987,"publication_date":"1987-10-01","ids":{"openalex":"https://openalex.org/W2026670990","doi":"https://doi.org/10.1002/rob.4620040505","mag":"2026670990"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040505","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040505","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/A5113734117","display_name":"Tohru OMATA","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tohru Omata","raw_affiliation_strings":["Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042960650","display_name":"Shinji Hara","orcid":"https://orcid.org/0000-0002-9539-9426"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shinji Hara","raw_affiliation_strings":["Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109439088","display_name":"Michio Nakano","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Michio Nakano","raw_affiliation_strings":["Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Neguro-ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Oh\u2010Okayama, Neguro\u2010ku, Tokyo, 152 Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042960650"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":4.4226,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.94679113,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"4","issue":"5","first_page":"631","last_page":"652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control 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/T11749","display_name":"Iterative Learning Control 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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8698464632034302},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7543848752975464},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7305678129196167},{"id":"https://openalex.org/keywords/repetitive-control","display_name":"Repetitive control","score":0.7071588635444641},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6853934526443481},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5981785655021667},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5728403925895691},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4961138665676117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4890213906764984},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46080756187438965},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44447293877601624},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4441750645637512},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.429749995470047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4258565902709961},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.42569220066070557},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38314148783683777},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36854952573776245},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.35474997758865356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30518990755081177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26252231001853943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12422674894332886},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07556256651878357},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.04724135994911194}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8698464632034302},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7543848752975464},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7305678129196167},{"id":"https://openalex.org/C2780842517","wikidata":"https://www.wikidata.org/wiki/Q7314001","display_name":"Repetitive control","level":3,"score":0.7071588635444641},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6853934526443481},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5981785655021667},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5728403925895691},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4961138665676117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4890213906764984},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46080756187438965},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44447293877601624},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4441750645637512},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.429749995470047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4258565902709961},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.42569220066070557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38314148783683777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36854952573776245},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35474997758865356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30518990755081177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26252231001853943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12422674894332886},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07556256651878357},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.04724135994911194},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040505","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040505","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":[{"display_name":"Peace, Justice and strong institutions","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W200307350","https://openalex.org/W1994197355","https://openalex.org/W2039294728","https://openalex.org/W2040363089","https://openalex.org/W2072860359","https://openalex.org/W2089070007","https://openalex.org/W2110262160","https://openalex.org/W2146396918","https://openalex.org/W2610026116"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2085176909","https://openalex.org/W1755319685","https://openalex.org/W154885053"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article,":[3],"a":[4,14,65,79,95,110],"new":[5],"control":[6,10,58,63,70,77,104],"scheme":[7,59,71],"named":[8],"repetitive":[9,57,69,103],"is":[11,44,72],"proposed":[12,102],"for":[13,74,94],"class":[15],"of":[16,64,78,87],"nonlinear":[17,83],"systems":[18],"described":[19],"by":[20,46,81],"x(t)":[21],"=":[22,30],"Ax(t)":[23],"+":[24,26],"Bu(t)":[25],"n(x(t))":[27],"and":[28,85,89],"y(t)":[29],"Cx(t),":[31],"in":[32],"which":[33],"the":[34,48,56,61,75,101,106],"controlled":[35],"variables":[36],"follow":[37],"periodic":[38],"reference":[39],"commands.":[40],"The":[41],"stability":[42],"condition":[43],"derived":[45],"applying":[47],"passivity":[49],"theorem.":[50],"We":[51],"show":[52],"how":[53],"to":[54,60,109],"apply":[55],"trajectory":[62,76],"manipulator.":[66],"A":[67],"simple":[68],"developed":[73],"manipulator":[80,98],"using":[82],"compensation":[84],"feedbacks":[86],"position":[88],"velocity":[90],"signals.":[91],"Experimental":[92],"results":[93],"three":[96],"link":[97],"verify":[99],"that":[100],"reduces":[105],"tracking":[107],"error":[108],"very":[111],"low":[112],"level.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}