{"id":"https://openalex.org/W2060014164","doi":"https://doi.org/10.1080/00207720210123751","title":"Robust controller design for a class of nonlinear robot manipulators with actuator dynamics","display_name":"Robust controller design for a class of nonlinear robot manipulators with actuator dynamics","publication_year":2002,"publication_date":"2002-01-01","ids":{"openalex":"https://openalex.org/W2060014164","doi":"https://doi.org/10.1080/00207720210123751","mag":"2060014164"},"language":"en","primary_location":{"id":"doi:10.1080/00207720210123751","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720210123751","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","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/A5085541841","display_name":"Gwang-Seok Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gwang-Seok Park","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5075121006","display_name":"Dong-Hwan Hwang","orcid":"https://orcid.org/0000-0002-0933-5881"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong-Hwan Hwang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085541841"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.11854589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"33","issue":"7","first_page":"557","last_page":"565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9961000084877014,"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":0.9955999851226807,"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":0.8983844518661499},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6990379691123962},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6955295205116272},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5847952961921692},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5588899254798889},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.44433116912841797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4369525909423828},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4293779730796814},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4202271103858948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41530823707580566},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33305928111076355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14548808336257935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11030107736587524},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.058228492736816406}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8983844518661499},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6990379691123962},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6955295205116272},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5847952961921692},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5588899254798889},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.44433116912841797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4369525909423828},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4293779730796814},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4202271103858948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41530823707580566},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33305928111076355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14548808336257935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11030107736587524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.058228492736816406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207720210123751","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720210123751","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W228734868","https://openalex.org/W357948206","https://openalex.org/W1487127700","https://openalex.org/W1494427249","https://openalex.org/W1575037797","https://openalex.org/W1981174120","https://openalex.org/W1990042683","https://openalex.org/W1992476983","https://openalex.org/W2023319687","https://openalex.org/W2034825286","https://openalex.org/W2057550830","https://openalex.org/W2099003264","https://openalex.org/W2099276581","https://openalex.org/W2117181723","https://openalex.org/W2125037149","https://openalex.org/W2157918371","https://openalex.org/W2280809808","https://openalex.org/W2503960379","https://openalex.org/W2540877599","https://openalex.org/W2798534591","https://openalex.org/W2831148409","https://openalex.org/W2993433457"],"related_works":["https://openalex.org/W2383807498","https://openalex.org/W1978572805","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W4238188170","https://openalex.org/W2125114371","https://openalex.org/W2149980199","https://openalex.org/W2019977573","https://openalex.org/W3125766170","https://openalex.org/W2391139946"],"abstract_inverted_index":{"A":[0,20],"robust":[1],"controller":[2,50,69,91],"is":[3,23,40,70,86],"proposed":[4,48],"to":[5],"achieve":[6],"accurate":[7],"tracking":[8,108],"for":[9],"a":[10,73,78],"class":[11],"of":[12,65,97,110],"nonlinear":[13],"uncertain":[14],"robot":[15],"manipulators":[16],"with":[17,30],"actuator":[18,32],"dynamics.":[19,33],"dynamic":[21],"model":[22,39],"derived":[24],"that":[25,88],"incorporates":[26],"the":[27,31,38,43,52,58,62,66,68,82,89,93,98,104,111],"manipulator":[28],"dynamics":[29],"The":[34,47],"parameter":[35],"uncertainty":[36],"in":[37],"quantified":[41],"using":[42],"linear":[44],"parameterization":[45],"technique.":[46],"switching":[49,63],"guarantees":[51,92],"global":[53],"asymptotic":[54],"stability.":[55],"To":[56],"rectify":[57],"chattering":[59],"caused":[60],"by":[61,76],"action":[64],"controller,":[67],"modified":[71],"into":[72],"smoothed":[74],"form":[75],"putting":[77],"boundary":[79],"layer":[80],"around":[81],"sliding":[83],"surface.":[84],"It":[85],"shown":[87],"smoothing":[90],"uniform":[94],"ultimate":[95],"boundedness":[96],"actual":[99],"trajectory.":[100],"Simulation":[101],"results":[102],"show":[103],"feasibility":[105],"and":[106],"excellent":[107],"performance":[109],"controller.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}