{"id":"https://openalex.org/W2039972633","doi":"https://doi.org/10.1080/10798587.1995.10750622","title":"A Class of Quasi-Natural Potentials for Robot Servo-Loops and its Role in Adaptive and Learning Controls","display_name":"A Class of Quasi-Natural Potentials for Robot Servo-Loops and its Role in Adaptive and Learning Controls","publication_year":1995,"publication_date":"1995-01-01","ids":{"openalex":"https://openalex.org/W2039972633","doi":"https://doi.org/10.1080/10798587.1995.10750622","mag":"2039972633"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.1995.10750622","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1995.10750622","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","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/A5110461849","display_name":"S. Arimoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"S. Arimoto","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088598964","display_name":"T. Naniwa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T. Naniwa","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"L.L. Whitcomb","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110461849"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6286,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83571693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"1","issue":"1","first_page":"85","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9983999729156494,"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":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955000281333923,"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/computer-science","display_name":"Computer science","score":0.876857578754425},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.674471914768219},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.6264810562133789},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6141108274459839},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.5882276892662048},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46221134066581726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.395190954208374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12438705563545227}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.876857578754425},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.674471914768219},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.6264810562133789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6141108274459839},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.5882276892662048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46221134066581726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.395190954208374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12438705563545227},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/10798587.1995.10750622","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1995.10750622","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","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":8,"referenced_works":["https://openalex.org/W1998031316","https://openalex.org/W2001123678","https://openalex.org/W2033880740","https://openalex.org/W2040363089","https://openalex.org/W2083483041","https://openalex.org/W2146396918","https://openalex.org/W2150079688","https://openalex.org/W2157577511"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W2141691317","https://openalex.org/W1983548084","https://openalex.org/W2160609742","https://openalex.org/W2110846987","https://openalex.org/W2979526210","https://openalex.org/W3110529494","https://openalex.org/W2980671038","https://openalex.org/W4226180992"],"abstract_inverted_index":{"ABSTRACTA":[0],"new":[1],"type":[2],"of":[3,22,35,58,63,73,83,92,94,109,111],"saturated":[4],"position":[5],"(Proportional)":[6],"and":[7,88,101],"velocity":[8],"(Differential)":[9],"feedback":[10,59],"(SPD":[11],"servo-loop)":[12],"induced":[13],"by":[14],"a":[15,77,81],"quasi-natural":[16],"potential":[17],"is":[18,33,67],"proposed":[19],"for":[20,80],"control":[21,100,103],"robot":[23,44],"manipulators":[24],"with":[25,55],"all":[26],"revolute-type":[27],"joints.":[28],"If":[29],"the":[30,42,48,53,64,71,107],"servo":[31],"loop":[32],"composed":[34],"such":[36,112],"SP-D":[37],"feedback,":[38],"then":[39],"not":[40],"only":[41],"original":[43],"dynamics":[45,51],"but":[46],"also":[47],"residual":[49],"error":[50],"satisfy":[52],"passivity":[54],"appropriate":[56],"choice":[57],"gains.":[60],"By":[61],"virtue":[62],"passivity,":[65],"it":[66],"possible":[68],"to":[69],"show":[70],"existence":[72],"Lyapunov":[74,113],"functions":[75],"in":[76,97],"global":[78],"sense":[79],"variety":[82],"set-point,":[84],"adaptive":[85,99],"trajectory":[86],"tracking,":[87],"learning":[89,102],"controls.":[90],"Proofs":[91],"convergence":[93],"tracking":[95],"errors":[96],"model-based":[98],"are":[104],"given":[105],"on":[106],"basis":[108],"construction":[110],"functions.":[114]},"counts_by_year":[{"year":2025,"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"}
