{"id":"https://openalex.org/W2969769873","doi":"https://doi.org/10.1017/s0263574719001267","title":"A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot","display_name":"A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot","publication_year":2019,"publication_date":"2019-08-19","ids":{"openalex":"https://openalex.org/W2969769873","doi":"https://doi.org/10.1017/s0263574719001267","mag":"2969769873"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001267","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001267","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/A5112023011","display_name":"Minh-Nha Pham","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Minh-Nha Pham","raw_affiliation_strings":["Department of Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Universit\u00e9 du Qu\u00e9bec, Queb\u00e9c, Canada. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Universit\u00e9 du Qu\u00e9bec, Queb\u00e9c, Canada. E-mail:","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049718147","display_name":"Philippe Hamelin","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Philippe Hamelin","raw_affiliation_strings":["Inspection and Maintenance Robotics, Research Institute of Hydro-Qu\u00e9bec, Varennes, Queb\u00e9c, Canada. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inspection and Maintenance Robotics, Research Institute of Hydro-Qu\u00e9bec, Varennes, Queb\u00e9c, Canada. E-mails:","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009553777","display_name":"Bruce Hazel","orcid":"https://orcid.org/0000-0001-8370-2304"},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bruce Hazel","raw_affiliation_strings":["Inspection and Maintenance Robotics, Research Institute of Hydro-Qu\u00e9bec, Varennes, Queb\u00e9c, Canada. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inspection and Maintenance Robotics, Research Institute of Hydro-Qu\u00e9bec, Varennes, Queb\u00e9c, Canada. E-mails:","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075069629","display_name":"Zhaoheng Liu","orcid":"https://orcid.org/0000-0002-8088-7136"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Zhaoheng Liu","raw_affiliation_strings":["Department of Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Universit\u00e9 du Qu\u00e9bec, Queb\u00e9c, Canada. E-mail:"],"raw_orcid":"https://orcid.org/0000-0002-8088-7136","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Universit\u00e9 du Qu\u00e9bec, Queb\u00e9c, Canada. E-mail:","institution_ids":["https://openalex.org/I9736820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075069629"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":1.1496,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78851686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"38","issue":"6","first_page":"1082","last_page":"1104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T13644","display_name":"Control Systems in Engineering","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9948999881744385,"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":0.8667712807655334},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.6413106918334961},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5974931716918945},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5302671194076538},{"id":"https://openalex.org/keywords/reducer","display_name":"Reducer","score":0.5266568660736084},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4816109538078308},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47998592257499695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4654083549976349},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41160067915916443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39838358759880066},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19145429134368896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1275586187839508}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8667712807655334},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.6413106918334961},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5974931716918945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5302671194076538},{"id":"https://openalex.org/C2776985865","wikidata":"https://www.wikidata.org/wiki/Q26820931","display_name":"Reducer","level":2,"score":0.5266568660736084},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4816109538078308},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47998592257499695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4654083549976349},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41160067915916443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39838358759880066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19145429134368896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1275586187839508},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil 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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574719001267","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001267","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:espace2.etsmtl.ca:19607","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/19607/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article publi\u00e9 dans une revue, r\u00e9vis\u00e9 par les pairs"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W189803804","https://openalex.org/W1059717899","https://openalex.org/W1513016807","https://openalex.org/W1535570778","https://openalex.org/W1544439962","https://openalex.org/W1611942002","https://openalex.org/W1762113120","https://openalex.org/W1972518516","https://openalex.org/W1977089323","https://openalex.org/W1990851787","https://openalex.org/W1991424528","https://openalex.org/W1992171281","https://openalex.org/W1995090200","https://openalex.org/W1995255477","https://openalex.org/W2002060021","https://openalex.org/W2006742133","https://openalex.org/W2017404808","https://openalex.org/W2023970836","https://openalex.org/W2025939589","https://openalex.org/W2028573862","https://openalex.org/W2061936030","https://openalex.org/W2062691475","https://openalex.org/W2063735151","https://openalex.org/W2093183548","https://openalex.org/W2094940113","https://openalex.org/W2104516767","https://openalex.org/W2109134280","https://openalex.org/W2117005307","https://openalex.org/W2118594875","https://openalex.org/W2120807258","https://openalex.org/W2131063775","https://openalex.org/W2135107954","https://openalex.org/W2135493101","https://openalex.org/W2140487974","https://openalex.org/W2156530047","https://openalex.org/W2157110801","https://openalex.org/W2188422583","https://openalex.org/W2206139146","https://openalex.org/W2230652337","https://openalex.org/W2246444059","https://openalex.org/W2267593487","https://openalex.org/W2339165105","https://openalex.org/W2359173430","https://openalex.org/W2460221038","https://openalex.org/W2544402343","https://openalex.org/W2594410800","https://openalex.org/W2734685478","https://openalex.org/W2739218231","https://openalex.org/W2793806299","https://openalex.org/W2799051849","https://openalex.org/W2805834939","https://openalex.org/W4240801863","https://openalex.org/W4300667290","https://openalex.org/W6676446980","https://openalex.org/W6734520872"],"related_works":["https://openalex.org/W4365392833","https://openalex.org/W2195106441","https://openalex.org/W2085225662","https://openalex.org/W4312843992","https://openalex.org/W3139241569","https://openalex.org/W2899166730","https://openalex.org/W2795283562","https://openalex.org/W4210419070","https://openalex.org/W2351670472","https://openalex.org/W2356012953"],"abstract_inverted_index":{"SUMMARY":[0],"Joint":[1],"flexibility":[2],"introduces":[3],"additional":[4],"degrees":[5],"of":[6,15,75,81,88],"freedom":[7],"and":[8,66,86],"vibration":[9],"modes,":[10],"thus":[11],"limiting":[12],"the":[13,16,44,53,73,76,89,93],"performance":[14],"manipulator.":[17],"To":[18],"improve":[19],"control":[20,50],"bandwidth,":[21],"this":[22],"paper":[23],"proposes":[24],"an":[25],"enhanced":[26],"two-stage":[27],"state":[28],"feedback":[29],"(SFB)":[30],"controller,":[31],"which":[32,42,63],"combines":[33],"two":[34],"parts.":[35],"The":[36,57],"first":[37],"is":[38,59],"a":[39,48,60],"SFB":[40],"loop,":[41],"considers":[43],"motor":[45],"position":[46,82],"as":[47],"virtual":[49],"input":[51],"for":[52],"link":[54,84],"side":[55],"dynamics.":[56],"second":[58],"disturbance-state":[61],"observer,":[62],"compensates":[64],"disturbances":[65],"reconstructs":[67],"indirect":[68],"measurements.":[69],"Experimental":[70],"results":[71],"show":[72],"effectiveness":[74],"proposed":[77],"controller":[78],"in":[79],"terms":[80],"tracking,":[83],"vibration,":[85],"rejection":[87],"kinematic":[90],"error":[91],"from":[92],"joint\u2019s":[94],"harmonic":[95],"drive":[96],"reducer.":[97]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
