{"id":"https://openalex.org/W2090676971","doi":"https://doi.org/10.1017/s0263574702004435","title":"A singularly perturbed method for pole assignment control of a flexible manipulator","display_name":"A singularly perturbed method for pole assignment control of a flexible manipulator","publication_year":2002,"publication_date":"2002-11-01","ids":{"openalex":"https://openalex.org/W2090676971","doi":"https://doi.org/10.1017/s0263574702004435","mag":"2090676971"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574702004435","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004435","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":true,"oa_status":"green","oa_url":"https://tohoku.repo.nii.ac.jp/records/25397","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan","Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan) konno@space.mech.tohoku.ac.jp#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan) konno@space.mech.tohoku.ac.jp#TAB#","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064995864","display_name":"Liu Deman","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Deman","raw_affiliation_strings":["Dept. of Automatic Control, Northeastern University, ShenYang City, LiaoNing Province (People's Republic of China","Dept. of Automatic Control, Northeastern University, ShenYang City, LiaoNing Province (People's Republic of China). dmliu@ramm.neu.edu.cn#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control, Northeastern University, ShenYang City, LiaoNing Province (People's Republic of China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Dept. of Automatic Control, Northeastern University, ShenYang City, LiaoNing Province (People's Republic of China). dmliu@ramm.neu.edu.cn#TAB#","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan","Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan) uchiyama@space.mech.tohoku.ac.jp#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980\u20138579 (Japan) uchiyama@space.mech.tohoku.ac.jp#TAB#","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.12823102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"20","issue":"6","first_page":"637","last_page":"651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9908000230789185,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.7876850366592407},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6802970767021179},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6305971741676331},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6256116628646851},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5750917196273804},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5270134210586548},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5239277482032776},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5122072100639343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49507513642311096},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.43664926290512085},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36983615159988403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2637454867362976},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24872004985809326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1070219874382019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09499767422676086}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7876850366592407},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6802970767021179},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6305971741676331},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6256116628646851},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5750917196273804},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5270134210586548},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5239277482032776},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5122072100639343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49507513642311096},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.43664926290512085},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36983615159988403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2637454867362976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24872004985809326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1070219874382019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09499767422676086},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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":2,"locations":[{"id":"doi:10.1017/s0263574702004435","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004435","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"},{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000470677","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25397","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000470677","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25397","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1497717138","https://openalex.org/W1949084454","https://openalex.org/W1979749580","https://openalex.org/W1985283545","https://openalex.org/W1999177683","https://openalex.org/W2004005865","https://openalex.org/W2004037675","https://openalex.org/W2014157641","https://openalex.org/W2016599545","https://openalex.org/W2018197200","https://openalex.org/W2028956722","https://openalex.org/W2063902660","https://openalex.org/W2079738593","https://openalex.org/W2080992175","https://openalex.org/W2087558621","https://openalex.org/W2093385055","https://openalex.org/W2100353623","https://openalex.org/W2103610162","https://openalex.org/W2105433197","https://openalex.org/W2107736322","https://openalex.org/W2112855089","https://openalex.org/W2116418766","https://openalex.org/W2125570805","https://openalex.org/W2129784879","https://openalex.org/W2133239916","https://openalex.org/W2135235946","https://openalex.org/W2140175846","https://openalex.org/W2150549237","https://openalex.org/W2153823407","https://openalex.org/W2154454757","https://openalex.org/W2156453241","https://openalex.org/W2166873007","https://openalex.org/W2584241324","https://openalex.org/W2646878785","https://openalex.org/W2671145150","https://openalex.org/W2715822022"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W2352472571","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W1755319685","https://openalex.org/W2611960376","https://openalex.org/W2566832750","https://openalex.org/W145444132"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3],"using":[4],"a":[5,11,18,50,94],"singularly":[6],"perturbed":[7],"approach":[8],"to":[9,53,119,122,128],"derive":[10],"vibration":[12],"damping":[13],"control":[14,27,44,65,83,135],"law":[15],"in":[16,85],"which":[17,34,45,66],"pole":[19,62],"assignment":[20,63],"feedback":[21,64],"method":[22,84],"is":[23,29,41,61,88],"utilized.":[24],"The":[25,39,59],"composite":[26,82],"system":[28],"characterized":[30],"by":[31],"two":[32],"components":[33],"can":[35],"be":[36,120],"computed":[37],"separately.":[38],"one":[40],"Cartesian-based":[42],"PI":[43],"drives":[46],"the":[47,55,73,97,101,106,110,130,133],"end-effector":[48],"of":[49,75,80,96,103,115,132],"flexible":[51],"manipulator":[52],"track":[54],"desired":[56],"time-based":[57],"trajectory.":[58],"other":[60],"damps":[67],"out":[68],"vibrations":[69],"during":[70],"and":[71,100,112],"at":[72],"end":[74],"trajectory":[76],"tracking.":[77],"An":[78],"advantage":[79],"this":[81],"real":[86],"implementation":[87,113],"that":[89],"it":[90,117],"does":[91],"not":[92],"require":[93],"derivative":[95],"end-effector's":[98],"position,":[99],"derivatives":[102],"signals":[104],"from":[105],"strain":[107],"gauges.":[108],"From":[109],"characteristics":[111],"points":[114],"view,":[116],"appears":[118],"simple":[121],"use.":[123],"Laboratory":[124],"experiments":[125],"were":[126],"conducted":[127],"evaluate":[129],"performance":[131],"proposed":[134],"method.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}