{"id":"https://openalex.org/W1983034357","doi":"https://doi.org/10.1017/s0263574799002167","title":"Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots","display_name":"Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots","publication_year":2000,"publication_date":"2000-05-01","ids":{"openalex":"https://openalex.org/W1983034357","doi":"https://doi.org/10.1017/s0263574799002167","mag":"1983034357"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574799002167","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799002167","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/A5032651215","display_name":"Warren E. Dixon","orcid":"https://orcid.org/0000-0002-5091-181X"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"W.E. Dixon","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054699757","display_name":"Erkan Zergero\u011flu","orcid":"https://orcid.org/0000-0002-1211-0448"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Zergeroglu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112213851","display_name":"D.M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.M. Dawson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038372470","display_name":"M.W. Hannan","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.W. Hannan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail:","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC\u200929634\u20130915 (USA) E-mail: ddawson@eng.clemson.edu#TAB#","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032651215"],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":1.973,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.85461962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"18","issue":"3","first_page":"325","last_page":"336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11394","display_name":"Dynamics and Control of Mechanical 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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983000159263611,"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/backstepping","display_name":"Backstepping","score":0.8402904868125916},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8373905420303345},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6693369746208191},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6005921959877014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5671924948692322},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5492286682128906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5191904306411743},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5106649994850159},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48525476455688477},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.45932692289352417},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4566057026386261},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43362802267074585},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4268840253353119},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31132709980010986},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27890902757644653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17929047346115112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15152651071548462}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8402904868125916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8373905420303345},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6693369746208191},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6005921959877014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5671924948692322},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5492286682128906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5191904306411743},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5106649994850159},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48525476455688477},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.45932692289352417},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4566057026386261},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43362802267074585},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4268840253353119},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31132709980010986},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27890902757644653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17929047346115112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15152651071548462},{"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/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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574799002167","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799002167","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1575037797","https://openalex.org/W1972859032","https://openalex.org/W1974269367","https://openalex.org/W1995090200","https://openalex.org/W2014468279","https://openalex.org/W2023712177","https://openalex.org/W2047993072","https://openalex.org/W2068027769","https://openalex.org/W2068776781","https://openalex.org/W2090167557","https://openalex.org/W2097467365","https://openalex.org/W2125789925","https://openalex.org/W2126369450","https://openalex.org/W2129811125","https://openalex.org/W2141813051","https://openalex.org/W2156031235","https://openalex.org/W2158516389","https://openalex.org/W2170935058","https://openalex.org/W2563035096","https://openalex.org/W2566690868"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W3082438962","https://openalex.org/W1847613412","https://openalex.org/W2972367213","https://openalex.org/W4382203996","https://openalex.org/W1990473637"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,54],"solution":[4],"to":[5,45,61,75],"the":[6,28,47,63,92,96,111],"global":[7,77],"adaptive":[8],"partial":[9],"state":[10],"feedback":[11,84],"control":[12,71],"problem":[13],"for":[14,24,49,65,88],"rigid-link,":[15],"flexible-joint":[16],"(RLFJ)":[17],"robots.":[18],"The":[19],"proposed":[20,112],"tracking":[21],"controller":[22,85],"adapts":[23,87],"parametric":[25,89],"uncertainty":[26,90],"throughout":[27],"entire":[29],"mechanical":[30],"system":[31],"while":[32,53],"only":[33],"requiring":[34],"link":[35,50,79,93],"and":[36],"actuator":[37,66],"position":[38,80],"measurements.":[39,68],"A":[40,69],"nonlinear":[41],"filter":[42],"is":[43,59,73,99],"employed":[44],"eliminate":[46,62],"need":[48,64],"velocity":[51,67],"measurements":[52],"set":[55],"of":[56,95,110],"linear":[57],"filters":[58],"utilized":[60,74],"backstepping":[70],"strategy":[72],"illustrate":[76],"asymptotic":[78],"tracking.":[81],"An":[82],"output":[83],"that":[86],"in":[91],"dynamics":[94],"robot":[97],"manipulator":[98],"presented":[100],"as":[101,108],"an":[102],"extension.":[103],"Experimental":[104],"results":[105],"are":[106],"provided":[107],"verification":[109],"controller.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}