{"id":"https://openalex.org/W1977260494","doi":"https://doi.org/10.1080/10798587.1999.10750611","title":"Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure","display_name":"Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W1977260494","doi":"https://doi.org/10.1080/10798587.1999.10750611","mag":"1977260494"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.1999.10750611","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750611","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 & 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/A5085499418","display_name":"Rafael Kelly","orcid":"https://orcid.org/0000-0002-7660-0745"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafael Kelly","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076576895","display_name":"Rodolfo E. Haber","orcid":"https://orcid.org/0000-0002-2881-0166"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodolfo Haber","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004861122","display_name":"Rodolfo E. Haber-Guerra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodolfo E. Haber-Guerra","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5078461928","display_name":"Fernando Reyes","orcid":"https://orcid.org/0000-0001-5200-7632"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fernando Reyes","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9647,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.92204219,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"5","issue":"4","first_page":"313","last_page":"326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9988999962806702,"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":0.8759368658065796},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6881066560745239},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5737917423248291},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5708187818527222},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5315378308296204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5042682886123657},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.46443021297454834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45824572443962097},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38711297512054443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27512896060943604},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11533385515213013}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8759368658065796},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6881066560745239},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5737917423248291},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5708187818527222},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5315378308296204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5042682886123657},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.46443021297454834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45824572443962097},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38711297512054443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27512896060943604},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11533385515213013},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/10798587.1999.10750611","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750611","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 & Soft Computing","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":32,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W250691366","https://openalex.org/W406738437","https://openalex.org/W1496777766","https://openalex.org/W1540306565","https://openalex.org/W1948777652","https://openalex.org/W1978071493","https://openalex.org/W1990777642","https://openalex.org/W2009453130","https://openalex.org/W2033880740","https://openalex.org/W2048603489","https://openalex.org/W2049369156","https://openalex.org/W2058490500","https://openalex.org/W2062706881","https://openalex.org/W2071782633","https://openalex.org/W2073619388","https://openalex.org/W2080785832","https://openalex.org/W2102496525","https://openalex.org/W2102639936","https://openalex.org/W2104732381","https://openalex.org/W2105502126","https://openalex.org/W2106608467","https://openalex.org/W2114029742","https://openalex.org/W2116243329","https://openalex.org/W2124905766","https://openalex.org/W2145803812","https://openalex.org/W2148073928","https://openalex.org/W2158796185","https://openalex.org/W2165691287","https://openalex.org/W2259289169","https://openalex.org/W2993433457","https://openalex.org/W4239194948"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W1521672401","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W135622916"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5],"fuzzy":[6],"adaptation":[7],"scheme":[8],"for":[9],"PD":[10],"control":[11],"with":[12],"gravity":[13],"compensation":[14],"of":[15],"robot":[16],"manipulators.":[17],"We":[18],"demonstrate,":[19],"by":[20],"taking":[21],"into":[22],"account":[23],"the":[24],"full":[25],"nonlinear":[26],"and":[27],"multivariable":[28],"nature...":[29]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}