{"id":"https://openalex.org/W2058202534","doi":"https://doi.org/10.1017/s0263574714001131","title":"A new tuning procedure for nonlinear PID global regulators with bounded torques for rigid robots","display_name":"A new tuning procedure for nonlinear PID global regulators with bounded torques for rigid robots","publication_year":2014,"publication_date":"2014-05-13","ids":{"openalex":"https://openalex.org/W2058202534","doi":"https://doi.org/10.1017/s0263574714001131","mag":"2058202534"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001131","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001131","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/A5026575568","display_name":"Jorge Alberto Orrante-Sakanassi","orcid":"https://orcid.org/0000-0002-3272-8034"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jorge Orrante-Sakanassi","raw_affiliation_strings":["Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Instituto Tecnol\u00f3gico de La Laguna, AP 49-1, Torre\u00f3n, Coah., C.P. 27001, M\u00e9xico","Instituto Tecnol\u00f3gico de La Laguna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Instituto Tecnol\u00f3gico de La Laguna, AP 49-1, Torre\u00f3n, Coah., C.P. 27001, M\u00e9xico","institution_ids":["https://openalex.org/I4210095469"]},{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007101144","display_name":"V\u00edctor Santib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-0870-8615"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"V\u00edctor Santib\u00e1nez","raw_affiliation_strings":["Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Instituto Tecnol\u00f3gico de La Laguna, AP 49-1, Torre\u00f3n, Coah., C.P. 27001, M\u00e9xico","Instituto Tecnol\u00f3gico de La Laguna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Instituto Tecnol\u00f3gico de La Laguna, AP 49-1, Torre\u00f3n, Coah., C.P. 27001, M\u00e9xico","institution_ids":["https://openalex.org/I4210095469"]},{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001770010","display_name":"Victor Manuel Hern\u00e1ndez-Guzm\u00e1n","orcid":"https://orcid.org/0000-0002-7016-2561"},"institutions":[{"id":"https://openalex.org/I157492648","display_name":"Autonomous University of Queretaro","ror":"https://ror.org/00v8fdc16","country_code":"MX","type":"education","lineage":["https://openalex.org/I157492648"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V\u00edctor M. Hern\u00e1ndez-Guzm\u00e1n","raw_affiliation_strings":["Universidad Aut\u00f3noma de Quer\u00e9taro, Facultad de Ingenier\u00eda, AP 3-24, Quer\u00e9taro, Qro., C.P. 76150, M\u00e9xico","Universidad  Aut\u00f3noma de Quer\u00e9taro"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Aut\u00f3noma de Quer\u00e9taro, Facultad de Ingenier\u00eda, AP 3-24, Quer\u00e9taro, Qro., C.P. 76150, M\u00e9xico","institution_ids":["https://openalex.org/I157492648"]},{"raw_affiliation_string":"Universidad  Aut\u00f3noma de Quer\u00e9taro","institution_ids":["https://openalex.org/I157492648"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007101144"],"corresponding_institution_ids":["https://openalex.org/I4210095469"],"apc_list":null,"apc_paid":null,"fwci":1.5325,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8629866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"33","issue":"9","first_page":"1926","last_page":"1947"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9995999932289124,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9995999932289124,"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":0.9994000196456909,"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":0.9976000189781189,"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":0.8506514430046082},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8218964338302612},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6867659091949463},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6395122408866882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6174619197845459},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6081075668334961},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48192429542541504},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4734475314617157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4409838318824768},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3964672088623047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3145567774772644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27382105588912964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18933045864105225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1445738673210144},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0831841230392456}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8506514430046082},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8218964338302612},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6867659091949463},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6395122408866882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6174619197845459},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6081075668334961},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48192429542541504},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4734475314617157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4409838318824768},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3964672088623047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3145567774772644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27382105588912964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18933045864105225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1445738673210144},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0831841230392456},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714001131","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001131","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":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324203","display_name":"Direcci\u00f3n General de Educaci\u00f3n Superior Tecnol\u00f3gica","ror":"https://ror.org/02e1c4h55"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W109339162","https://openalex.org/W189590081","https://openalex.org/W246666880","https://openalex.org/W1509127394","https://openalex.org/W1516071413","https://openalex.org/W1570210747","https://openalex.org/W1594670772","https://openalex.org/W1978595173","https://openalex.org/W1980246867","https://openalex.org/W1988252227","https://openalex.org/W2000361582","https://openalex.org/W2005249374","https://openalex.org/W2014555411","https://openalex.org/W2018558951","https://openalex.org/W2030593149","https://openalex.org/W2032008743","https://openalex.org/W2032138479","https://openalex.org/W2033880740","https://openalex.org/W2076567307","https://openalex.org/W2097077641","https://openalex.org/W2108743771","https://openalex.org/W2113858380","https://openalex.org/W2123623267","https://openalex.org/W2126903378","https://openalex.org/W2135608430","https://openalex.org/W2136984159","https://openalex.org/W2138605596","https://openalex.org/W2141781870","https://openalex.org/W2142350423","https://openalex.org/W2145949387","https://openalex.org/W2147821493","https://openalex.org/W2148073928","https://openalex.org/W2148268301","https://openalex.org/W2165475750","https://openalex.org/W2171676167","https://openalex.org/W2528449003","https://openalex.org/W2540877599","https://openalex.org/W2610857016","https://openalex.org/W2890939371","https://openalex.org/W3142707146","https://openalex.org/W3150565301","https://openalex.org/W4210939600","https://openalex.org/W4236121069","https://openalex.org/W4248528645","https://openalex.org/W4285719527","https://openalex.org/W6658542598","https://openalex.org/W6680835873","https://openalex.org/W6681997517"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W2104103723"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2,34,129,175],"paper":[3],"we":[4,131,178],"propose":[5],"new":[6],"tuning":[7,42,70],"conditions":[8,43,81,108,122,135],"for":[9,20,49,76,123,136],"three":[10],"saturated":[11,137],"nonlinear":[12],"proportional-integral-derivative":[13],"(PID)":[14],"global":[15,51,138],"regulators":[16],"with":[17,79],"bounded":[18],"torques":[19],"robot":[21,77,183],"manipulators,":[22],"which":[23,141,160],"have":[24,91,112,147,179],"been":[25,60,92],"presented":[26,44,86,173],"previously":[27,45,87],"in":[28,46,88,95,174],"the":[29,38,41,47,89,99,106,124,152,163],"literature.":[30],"The":[31,167],"motivation":[32],"of":[33,72,120,169],"work":[35],"relies":[36],"on":[37,128],"fact":[39],"that":[40,57,111,145],"literature":[48,90],"assuring":[50],"asymptotic":[52],"stability":[53,80,107,134,165],"are":[54,142,172],"so":[55,143],"restrictive":[56],"it":[58],"had":[59],"impossible,":[61],"until":[62],"now,":[63],"to":[64,113,149],"carry":[65],"out":[66],"experimental":[67,155],"tests.":[68],"New":[69],"criteria":[71],"unsaturated":[73],"PID":[74,139],"controllers":[75,140],"manipulators":[78],"more":[82],"relaxed":[83,144],"than":[84],"those":[85],"proposed":[93,164],"recently":[94],"some":[96],"works":[97],"by":[98,104,151],"authors.":[100],"This":[101],"was":[102],"achieved":[103],"setting":[105],"as":[109],"expressions":[110],"be":[114],"satisfied":[115],"at":[116],"each":[117],"joint":[118],"instead":[119],"general":[121],"whole":[125],"robot.":[126],"Based":[127],"idea,":[130],"now":[132],"obtain":[133],"they":[146],"allowed":[148],"perform,":[150],"first":[153],"time,":[154],"tests":[156],"using":[157],"controller":[158],"gains":[159],"completely":[161],"satisfy":[162],"conditions.":[166],"results":[168],"such":[170],"experiments":[171],"paper,":[176],"where":[177],"used":[180],"a":[181],"two-degrees-of-freedom":[182],"manipulator.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-08-02T14:50:37.381335","created_date":"2025-10-10T00:00:00"}
