{"id":"https://openalex.org/W2036803292","doi":"https://doi.org/10.1002/rob.4620070605","title":"A nominal adaptive controller for a robot manipulator","display_name":"A nominal adaptive controller for a robot manipulator","publication_year":1990,"publication_date":"1990-12-01","ids":{"openalex":"https://openalex.org/W2036803292","doi":"https://doi.org/10.1002/rob.4620070605","mag":"2036803292"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070605","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070605","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/A5112213851","display_name":"D.M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. M. Dawson","raw_affiliation_strings":["School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016137188","display_name":"Frank L. Lewis","orcid":"https://orcid.org/0000-0003-4074-1615"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. L. Lewis","raw_affiliation_strings":["School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113580732","display_name":"J. Dorsey","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. F. Dorsey","raw_affiliation_strings":["School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering Georgia Institute of Technology Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical Engineering, Georgia Institute of Technology. Atlanta, GA 30332","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112213851"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":1.4108,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82052052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"6","first_page":"865","last_page":"879"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9980999827384949,"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/T12158","display_name":"Guidance and Control Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8841069936752319},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7944502830505371},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6817226409912109},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6549957990646362},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6088958978652954},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6076151728630066},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6042536497116089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5595227479934692},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.543938934803009},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5417661070823669},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5360778570175171},{"id":"https://openalex.org/keywords/uniform-boundedness","display_name":"Uniform boundedness","score":0.441878080368042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4268537163734436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39449888467788696},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34598174691200256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33287543058395386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2873641848564148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1951587200164795},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08886441588401794},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.050456464290618896}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8841069936752319},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7944502830505371},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6817226409912109},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6549957990646362},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6088958978652954},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6076151728630066},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6042536497116089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5595227479934692},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.543938934803009},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5417661070823669},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5360778570175171},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.441878080368042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4268537163734436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39449888467788696},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34598174691200256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33287543058395386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2873641848564148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1951587200164795},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08886441588401794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.050456464290618896},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070605","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070605","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1505013685","https://openalex.org/W1946771514","https://openalex.org/W2006813793","https://openalex.org/W2015485579","https://openalex.org/W2118587090","https://openalex.org/W2120512179","https://openalex.org/W2145618422","https://openalex.org/W2148178391","https://openalex.org/W2167164867","https://openalex.org/W2170013200","https://openalex.org/W2279195201","https://openalex.org/W2570513205","https://openalex.org/W2922539753"],"related_works":["https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2567391447","https://openalex.org/W1545539801","https://openalex.org/W2567520115","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W2344226335","https://openalex.org/W4280596088"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"article":[2],"derives":[3],"an":[4,39,61],"adaptive":[5],"controller":[6],"to":[7,31],"achieve":[8],"trajectory":[9],"following":[10],"for":[11,20,46,52],"a":[12],"robot":[13],"manipulator.":[14],"Lyapunov's":[15],"second":[16],"method":[17],"is":[18],"used":[19],"the":[21,36,48,67],"design.":[22],"The":[23],"parameter,":[24],"position,":[25],"and":[26,56],"velocity":[27],"errors":[28],"are":[29],"shown":[30],"be":[32],"uniformly":[33],"bounded":[34,41],"in":[35,64],"presence":[37],"of":[38,66],"unknown":[40],"disturbance.":[42],"To":[43],"obtain":[44],"insight":[45],"selecting":[47],"various":[49],"control":[50],"parameters":[51],"maintaining":[53],"small":[54],"tracking":[55],"parameter":[57],"errors,":[58],"we":[59],"derive":[60],"error":[62],"bound":[63],"terms":[65],"system":[68],"disturbances.":[69]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
