{"id":"https://openalex.org/W2060954163","doi":"https://doi.org/10.1017/s0263574712000136","title":"Alternative proofs of four stability properties of rigid-link manipulators under PID position control","display_name":"Alternative proofs of four stability properties of rigid-link manipulators under PID position control","publication_year":2012,"publication_date":"2012-04-19","ids":{"openalex":"https://openalex.org/W2060954163","doi":"https://doi.org/10.1017/s0263574712000136","mag":"2060954163"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000136","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000136","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/A5057532710","display_name":"Ryo Kikuuwe","orcid":"https://orcid.org/0000-0002-1500-6777"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryo Kikuuwe","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","Kyushu University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Kyushu University","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5057532710"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":1.1261,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8253354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"31","issue":"1","first_page":"113","last_page":"122"},"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":0.9988999962806702,"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":0.9988999962806702,"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":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7193779945373535},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.6783839464187622},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6566212773323059},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6139965057373047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6138113737106323},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6115534901618958},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.60531085729599},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.590811014175415},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.585469663143158},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4417894184589386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2920752465724945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22144854068756104},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.06863003969192505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06717988848686218},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06552678346633911},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06260418891906738}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7193779945373535},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.6783839464187622},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6566212773323059},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6139965057373047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6138113737106323},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6115534901618958},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.60531085729599},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.590811014175415},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.585469663143158},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4417894184589386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2920752465724945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22144854068756104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.06863003969192505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06717988848686218},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06552678346633911},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06260418891906738},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000136","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000136","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":[{"display_name":"Reduced inequalities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W246666880","https://openalex.org/W582781894","https://openalex.org/W624052057","https://openalex.org/W1577242356","https://openalex.org/W1980246867","https://openalex.org/W1997219442","https://openalex.org/W2001456083","https://openalex.org/W2032008743","https://openalex.org/W2056296063","https://openalex.org/W2123623267","https://openalex.org/W2145949387","https://openalex.org/W2147821493","https://openalex.org/W2148073928","https://openalex.org/W2171438612","https://openalex.org/W2171676167","https://openalex.org/W2280888395","https://openalex.org/W3027718775","https://openalex.org/W4210939600","https://openalex.org/W4248528645","https://openalex.org/W4285719527","https://openalex.org/W6658542598","https://openalex.org/W6681997517"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2890977713","https://openalex.org/W2029114279","https://openalex.org/W2168383058","https://openalex.org/W2164703465","https://openalex.org/W2143247663","https://openalex.org/W1864017312","https://openalex.org/W2050693590"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"new":[4],"proofs":[5,40],"of":[6,30,90],"four":[7,52],"stability":[8,57],"properties":[9],"(semiglobal":[10],"strict":[11,43],"passivity,":[12],"semiglobal":[13,16,20],"asymptotic":[14],"stability,":[15,18],"input-to-state":[17],"and":[19,46,95],"uniform":[21],"ultimate":[22,28,88],"boundedness":[23],"with":[24],"an":[25],"arbitrarily":[26],"reducible":[27],"bound)":[29],"a":[31,42,47],"rigid-link":[32],"manipulator":[33],"under":[34],"proportional-integral-derivative":[35],"(PID)":[36],"position":[37,93],"control.":[38],"The":[39],"employ":[41],"Lyapunov":[44],"function":[45],"novel":[48],"parameterization":[49],"to":[50],"provide":[51],"inequality":[53],"conditions":[54],"for":[55],"the":[56,71,87],"properties.":[58],"In":[59],"those":[60],"inequalities,":[61],"arithmetic":[62],"operations":[63],"on":[64],"physical":[65],"quantities":[66],"are":[67,73],"physically":[68],"consistent":[69],"if":[70],"joints":[72],"all":[74,77],"revolute":[75],"or":[76],"prismatic.":[78],"A":[79],"gain":[80],"selection":[81],"procedure":[82],"is":[83],"presented":[84],"by":[85],"which":[86],"bounds":[89],"velocity":[91],"error,":[92,94],"its":[96],"integral":[97],"can":[98],"be":[99],"independently":[100],"designed.":[101]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
