{"id":"https://openalex.org/W2148073928","doi":"https://doi.org/10.1017/s0263574700017641","title":"A tuning procedure for stable PID control of robot manipulators","display_name":"A tuning procedure for stable PID control of robot manipulators","publication_year":1995,"publication_date":"1995-03-01","ids":{"openalex":"https://openalex.org/W2148073928","doi":"https://doi.org/10.1017/s0263574700017641","mag":"2148073928"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700017641","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700017641","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5085499418","display_name":"Rafael Kelly","orcid":"https://orcid.org/0000-0002-7660-0745"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Rafael Kelly","raw_affiliation_strings":["Divisi\u00f3n de Fisica Aplicada, CICESE, Carretera Tijuana-Ensenada Km. 107, Apdo. Postal 2732, Ensenada, B.C., 22800 (Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de Fisica Aplicada, CICESE, Carretera Tijuana-Ensenada Km. 107, Apdo. Postal 2732, Ensenada, B.C., 22800 (Mexico","institution_ids":["https://openalex.org/I64663401"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5085499418"],"corresponding_institution_ids":["https://openalex.org/I64663401"],"apc_list":null,"apc_paid":null,"fwci":4.9504,"has_fulltext":false,"cited_by_count":163,"citation_normalized_percentile":{"value":0.95236366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"13","issue":"2","first_page":"141","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9983999729156494,"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":0.8078800439834595},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6861798763275146},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.676518440246582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5669223070144653},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.53444904088974},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.4869031012058258},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.47813141345977783},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.43312379717826843},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.432227224111557},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4292069375514984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4141286015510559},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.41230231523513794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3914445638656616},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3864350914955139},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3046419620513916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27095621824264526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23582038283348083},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.1041795015335083},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09885197877883911}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8078800439834595},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6861798763275146},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.676518440246582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5669223070144653},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.53444904088974},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.4869031012058258},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.47813141345977783},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.43312379717826843},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.432227224111557},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4292069375514984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4141286015510559},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.41230231523513794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3914445638656616},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3864350914955139},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3046419620513916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27095621824264526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23582038283348083},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.1041795015335083},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09885197877883911},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700017641","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700017641","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W181146280","https://openalex.org/W391578156","https://openalex.org/W582781894","https://openalex.org/W1496777766","https://openalex.org/W1984218622","https://openalex.org/W2025939589","https://openalex.org/W2048603489","https://openalex.org/W2062691475","https://openalex.org/W2085952536","https://openalex.org/W2122561974","https://openalex.org/W2130480081","https://openalex.org/W2570513205","https://openalex.org/W2610857016","https://openalex.org/W2623785075"],"related_works":["https://openalex.org/W3009256916","https://openalex.org/W292582153","https://openalex.org/W4234131606","https://openalex.org/W1974141195","https://openalex.org/W2210722882","https://openalex.org/W2009168760","https://openalex.org/W1495650726","https://openalex.org/W1968954906","https://openalex.org/W2057820893","https://openalex.org/W2921511626"],"abstract_inverted_index":{"Summary":[0],"In":[1],"this":[2,72],"paper":[3],"we":[4],"propose":[5],"some":[6],"simple":[7],"rules":[8],"for":[9,85],"PID":[10],"tuning":[11,48],"of":[12,21,24,33],"robot":[13,35,89],"manipulators.":[14],"The":[15],"procedure":[16,49,82],"suggested":[17],"requires":[18],"the":[19,22,25,29,34,42,53,64,74],"knowledge":[20],"structure":[23],"inertia":[26],"matrix":[27],"and":[28],"gravitational":[30],"torque":[31],"vector":[32],"dynamics,":[36],"but":[37],"only":[38],"upper":[39],"bounds":[40],"on":[41],"dynamics":[43],"parameters":[44],"are":[45],"needed.":[46],"This":[47,81],"is":[50,78,83],"extracted":[51],"from":[52],"stability":[54],"analysis":[55],"by":[56],"using":[57],"a":[58,86],"suitable":[59],"Lyapunov":[60],"function":[61],"together":[62],"with":[63,71],"LaSalle":[65],"invariance":[66],"principle.":[67],"We":[68],"show":[69],"that":[70],"guideline,":[73],"overall":[75],"closed-loop":[76],"system":[77],"asymptotically":[79],"stable.":[80],"illustrated":[84],"two":[87],"degrees-of-freedom":[88]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-25T08:39:21.599409","created_date":"2025-10-10T00:00:00"}
