{"id":"https://openalex.org/W2101954373","doi":"https://doi.org/10.1080/00207721003710631","title":"End-effector trajectory tracking of a flexible link manipulator using integral manifold concept","display_name":"End-effector trajectory tracking of a flexible link manipulator using integral manifold concept","publication_year":2010,"publication_date":"2010-12-15","ids":{"openalex":"https://openalex.org/W2101954373","doi":"https://doi.org/10.1080/00207721003710631","mag":"2101954373"},"language":"en","primary_location":{"id":"doi:10.1080/00207721003710631","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721003710631","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/A5070939847","display_name":"M. Vakil","orcid":null},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Vakil","raw_affiliation_strings":["Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","institution_ids":["https://openalex.org/I32625721"]},{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#","institution_ids":["https://openalex.org/I32625721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008823893","display_name":"Reza Fotouhi","orcid":"https://orcid.org/0000-0002-3972-1468"},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R. Fotouhi","raw_affiliation_strings":["Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","institution_ids":["https://openalex.org/I32625721"]},{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#","institution_ids":["https://openalex.org/I32625721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056658465","display_name":"P.N. Nikiforuk","orcid":null},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P.N. Nikiforuk","raw_affiliation_strings":["Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9","institution_ids":["https://openalex.org/I32625721"]},{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9#TAB#","institution_ids":["https://openalex.org/I32625721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5008823893"],"corresponding_institution_ids":["https://openalex.org/I32625721"],"apc_list":null,"apc_paid":null,"fwci":3.0793,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92597757,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"42","issue":"12","first_page":"2057","last_page":"2069"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.991599977016449,"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/T12699","display_name":"Electromagnetic Launch and Propulsion Technology","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8612034916877747},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.672049880027771},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5821725726127625},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4753023087978363},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46667349338531494},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43798828125},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.42001381516456604},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.41562506556510925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3754573166370392},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3658798635005951},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3548198342323303},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22765827178955078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14414331316947937},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08159232139587402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06656622886657715}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8612034916877747},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.672049880027771},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5821725726127625},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4753023087978363},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46667349338531494},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43798828125},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.42001381516456604},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.41562506556510925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3754573166370392},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3658798635005951},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3548198342323303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22765827178955078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14414331316947937},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08159232139587402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06656622886657715},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207721003710631","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721003710631","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"},{"id":"pmh:oai:RePEc:taf:tsysxx:v:42:y:2011:i:12:p:2057-2069","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721003710631","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W625376324","https://openalex.org/W1515224583","https://openalex.org/W1516853686","https://openalex.org/W1965167541","https://openalex.org/W1985115913","https://openalex.org/W1989605873","https://openalex.org/W1989913584","https://openalex.org/W1994922304","https://openalex.org/W1996855412","https://openalex.org/W2007980846","https://openalex.org/W2013232999","https://openalex.org/W2014740374","https://openalex.org/W2039614738","https://openalex.org/W2063560715","https://openalex.org/W2068511460","https://openalex.org/W2084927938","https://openalex.org/W2092509622","https://openalex.org/W2134207938","https://openalex.org/W2134369624","https://openalex.org/W2139390751","https://openalex.org/W2140175846","https://openalex.org/W2150549237","https://openalex.org/W2153751619","https://openalex.org/W2159993469","https://openalex.org/W2181096178","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W4233608862","https://openalex.org/W4237814589"],"related_works":["https://openalex.org/W4224314977","https://openalex.org/W2002991661","https://openalex.org/W2507513082","https://openalex.org/W2099351328","https://openalex.org/W3211960457","https://openalex.org/W2754211626","https://openalex.org/W2966811312","https://openalex.org/W2373166766","https://openalex.org/W2507462920","https://openalex.org/W2153918686"],"abstract_inverted_index":{"A":[0],"new":[1,135,166],"controller":[2],"for":[3],"the":[4,21,29,35,46,51,56,68,71,75,93,98,106,112,120,124,134,141,149,160,165],"end-effector":[5,36],"trajectory":[6,37],"tracking":[7,38],"of":[8,20,50,55,70,74,84,97,105,123,133,148,164],"a":[9,40],"single":[10,22,57,99],"flexible":[11,23,58,100],"link":[12,24,53,59,101],"manipulator":[13,25],"is":[14,26,43,64,83,92,128,138,144],"introduced.":[15],"The":[16,61,103,130,146],"linear":[17],"dynamic":[18],"model":[19],"expressed":[27],"in":[28],"singularly":[30,76],"perturbed":[31,77],"form.":[32],"To":[33],"reduce":[34],"error,":[39],"corrective":[41,62,81],"torque":[42,48,63,82],"added":[44],"to":[45],"computed":[47],"command":[49],"rigid":[52],"counterpart":[54],"manipulator.":[60,102],"derived":[65],"based":[66,139],"on":[67,140],"concept":[69],"integral":[72],"manifold":[73],"differential":[78],"equations.":[79],"This":[80],"order":[85],"\u03b5":[86],"2":[87],"where":[88],",":[89],"and":[90,151,162],"f":[91],"fundamental":[94],"natural":[95],"frequency":[96],"implementation":[104],"introduced":[107],"technique":[108],"does":[109],"not":[110],"require":[111],"full-state":[113],"measurements":[114],"since":[115],"by":[116],"designing":[117],"an":[118],"observer,":[119],"time":[121],"derivative":[122],"link's":[125],"lateral":[126],"deflection":[127],"estimated.":[129],"stability":[131],"proof":[132],"controller,":[136],"which":[137],"Lyapunov":[142],"criterion,":[143],"presented.":[145],"results":[147],"simulation":[150],"experimental":[152],"studies":[153],"are":[154],"also":[155],"included":[156],"to,":[157],"respectively,":[158],"show":[159],"effectiveness":[161],"feasibility":[163],"controller.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
