{"id":"https://openalex.org/W2959684182","doi":"https://doi.org/10.1080/00207179.2019.1642518","title":"A proportional-derivative-double derivative controller for robot manipulators","display_name":"A proportional-derivative-double derivative controller for robot manipulators","publication_year":2019,"publication_date":"2019-07-11","ids":{"openalex":"https://openalex.org/W2959684182","doi":"https://doi.org/10.1080/00207179.2019.1642518","mag":"2959684182"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2019.1642518","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1642518","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","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/A5085664577","display_name":"Samer S. Saab","orcid":"https://orcid.org/0000-0003-0124-8457"},"institutions":[{"id":"https://openalex.org/I56306041","display_name":"Lebanese American University","ror":"https://ror.org/00hqkan37","country_code":"LB","type":"education","lineage":["https://openalex.org/I56306041"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Samer S. Saab","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon","institution_ids":["https://openalex.org/I56306041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009934471","display_name":"Rayana H. Jaafar","orcid":"https://orcid.org/0000-0003-2561-2153"},"institutions":[{"id":"https://openalex.org/I56306041","display_name":"Lebanese American University","ror":"https://ror.org/00hqkan37","country_code":"LB","type":"education","lineage":["https://openalex.org/I56306041"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Rayana H. Jaafar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon","institution_ids":["https://openalex.org/I56306041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085664577"],"corresponding_institution_ids":["https://openalex.org/I56306041"],"apc_list":null,"apc_paid":null,"fwci":2.8274,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.90900694,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"94","issue":"5","first_page":"1273","last_page":"1285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11236","display_name":"Control Systems and Identification","score":0.998199999332428,"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":0.89259934425354},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.638534426689148},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.553309440612793},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49583014845848083},{"id":"https://openalex.org/keywords/instability","display_name":"Instability","score":0.43660467863082886},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4297032654285431},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4244413375854492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41520702838897705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3611149787902832},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15962600708007812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11206111311912537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0846567153930664}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.89259934425354},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.638534426689148},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.553309440612793},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49583014845848083},{"id":"https://openalex.org/C207821765","wikidata":"https://www.wikidata.org/wiki/Q405372","display_name":"Instability","level":2,"score":0.43660467863082886},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4297032654285431},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4244413375854492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41520702838897705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3611149787902832},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15962600708007812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11206111311912537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0846567153930664},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207179.2019.1642518","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1642518","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1503948949","https://openalex.org/W1990225817","https://openalex.org/W2029469015","https://openalex.org/W2102335356","https://openalex.org/W2112900083","https://openalex.org/W2141909931","https://openalex.org/W2143556030","https://openalex.org/W2143611759","https://openalex.org/W2149010248","https://openalex.org/W2158970259","https://openalex.org/W2161085359","https://openalex.org/W2168855979","https://openalex.org/W2171505281","https://openalex.org/W2191193810","https://openalex.org/W2294330364","https://openalex.org/W2304221673","https://openalex.org/W2330179402","https://openalex.org/W2339165105","https://openalex.org/W2515786855","https://openalex.org/W2552821192","https://openalex.org/W2567289819","https://openalex.org/W2586293719","https://openalex.org/W2591999327","https://openalex.org/W2617932302","https://openalex.org/W2733334329","https://openalex.org/W2745055198","https://openalex.org/W2762068781","https://openalex.org/W2767655234","https://openalex.org/W2768735974","https://openalex.org/W2781895760","https://openalex.org/W2793732715","https://openalex.org/W2884748787","https://openalex.org/W2904554343","https://openalex.org/W2967880348","https://openalex.org/W3099523296","https://openalex.org/W3140415160"],"related_works":["https://openalex.org/W2126474951","https://openalex.org/W2120820506","https://openalex.org/W1518845096","https://openalex.org/W1983529652","https://openalex.org/W2351625767","https://openalex.org/W2100224615","https://openalex.org/W1505013685","https://openalex.org/W2159340243","https://openalex.org/W2133380851","https://openalex.org/W2360866871"],"abstract_inverted_index":{"Feeding":[0],"a":[1,61,146],"controller":[2,68],"with":[3,69],"acceleration":[4,17,100],"signal":[5],"can":[6,38],"improve":[7],"system":[8],"robustness":[9],"and":[10,99],"relative":[11],"stability.":[12],"However,":[13],"neither":[14],"measurements":[15],"of":[16,54,72,79,97,131,140],"signals":[18,21],"nor":[19],"velocity":[20,98,123],"are":[22,107],"available":[23],"in":[24,49,77],"most":[25],"industrial":[26],"robot":[27,148],"manipulators.":[28],"Inevitable":[29],"estimation":[30,95],"errors":[31,96],"may":[32],"lead":[33],"to":[34,128],"chattering":[35],"phenomenon":[36],"that":[37,120],"excite":[39],"unmodeled":[40,80],"high":[41],"frequency":[42],"plant":[43],"dynamics":[44],"yielding":[45],"either":[46],"severe":[47],"vibrations":[48],"the":[50,55,70,94,103,112,121,129,132,137,141],"arm":[51],"or":[52],"instability":[53],"control":[56,143],"system.":[57],"This":[58],"paper":[59],"proposes":[60],"stochastic":[62],"discrete-time":[63],"multivariable":[64],"proportional-derivative-double":[65],"derivative":[66],"(PDD)":[67],"objective":[71],"possessing":[73],"superior":[74],"tracking":[75,138],"capability":[76],"presence":[78],"joint":[81,87],"friction":[82],"forces":[83],"while":[84],"only":[85],"using":[86],"position":[88],"measurements.":[89],"The":[90],"proposed":[91,142],"approach":[92],"models":[93],"stochastically.":[101],"Subsequently,":[102],"time-varying":[104],"PDD":[105],"gains":[106],"derived":[108],"based":[109],"on":[110,145],"minimising":[111],"mean-square":[113,122],"state":[114],"error":[115,124],"per-discrete-time":[116],"instant.":[117],"We":[118,135],"show":[119],"is":[125],"inversely":[126],"proportional":[127],"square":[130],"sample":[133],"rate.":[134],"demonstrate":[136],"superiority":[139],"experimentally":[144],"four-degree-of-freedom":[147],"manipulator.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
