{"id":"https://openalex.org/W1998211911","doi":"https://doi.org/10.1007/bf00348721","title":"Robot model reference adaptive control through lower/upper part dynamic decoupling","display_name":"Robot model reference adaptive control through lower/upper part dynamic decoupling","publication_year":1988,"publication_date":"1988-01-01","ids":{"openalex":"https://openalex.org/W1998211911","doi":"https://doi.org/10.1007/bf00348721","mag":"1998211911"},"language":"en","primary_location":{"id":"doi:10.1007/bf00348721","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00348721","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1007/BF00348721","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085942072","display_name":"Spyros G. Tzafesta\u015f","orcid":"https://orcid.org/0000-0002-9700-9313"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]},{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["EC","GR"],"is_corresponding":true,"raw_author_name":"S. Tzafestas","raw_affiliation_strings":["Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089539028","display_name":"G. Stavrakakis","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC","GR"],"is_corresponding":false,"raw_author_name":"G. Stavrakakis","raw_affiliation_strings":["Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070359715","display_name":"A. Zagorianos","orcid":null},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]},{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["EC","GR"],"is_corresponding":false,"raw_author_name":"A. Zagorianos","raw_affiliation_strings":["Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Athens, Greece","institution_ids":["https://openalex.org/I70764802"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085942072"],"corresponding_institution_ids":["https://openalex.org/I174458059","https://openalex.org/I70764802"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.9796,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.90507383,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":"2","first_page":"163","last_page":"184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9997000098228455,"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/decoupling","display_name":"Decoupling (probability)","score":0.7681599855422974},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7376168966293335},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6406147480010986},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5299305319786072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5140336751937866},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4683869183063507},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4665890038013458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4646361172199249},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.41883063316345215},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3725435733795166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33310651779174805},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32173195481300354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3034853935241699},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2719269394874573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2592020034790039}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7681599855422974},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7376168966293335},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6406147480010986},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5299305319786072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5140336751937866},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4683869183063507},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4665890038013458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4646361172199249},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.41883063316345215},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3725435733795166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33310651779174805},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32173195481300354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3034853935241699},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2719269394874573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2592020034790039},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/bf00348721","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00348721","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/9886","is_oa":true,"landing_page_url":"http://doi.org/10.1007/BF00348721","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/9886","is_oa":true,"landing_page_url":"http://doi.org/10.1007/BF00348721","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W264587190","https://openalex.org/W1499277479","https://openalex.org/W1966552874","https://openalex.org/W1979554781","https://openalex.org/W1987852186","https://openalex.org/W2024345255","https://openalex.org/W2107209657","https://openalex.org/W2116985480","https://openalex.org/W2119552091","https://openalex.org/W2125713266","https://openalex.org/W2681625410","https://openalex.org/W2705688326"],"related_works":["https://openalex.org/W2389760479","https://openalex.org/W2113388358","https://openalex.org/W2003338169","https://openalex.org/W2145622942","https://openalex.org/W2138438518","https://openalex.org/W2393774712","https://openalex.org/W2460298865","https://openalex.org/W2368621989","https://openalex.org/W2148099680","https://openalex.org/W2390809915"],"abstract_inverted_index":null,"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
