{"id":"https://openalex.org/W2002480188","doi":"https://doi.org/10.1108/01439911211192493","title":"Improved model\u2010based control of a six\u2010degree\u2010of\u2010freedom Stewart platform driven by permanent magnet synchronous motors","display_name":"Improved model\u2010based control of a six\u2010degree\u2010of\u2010freedom Stewart platform driven by permanent magnet synchronous motors","publication_year":2012,"publication_date":"2012-01-06","ids":{"openalex":"https://openalex.org/W2002480188","doi":"https://doi.org/10.1108/01439911211192493","mag":"2002480188"},"language":"en","primary_location":{"id":"doi:10.1108/01439911211192493","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211192493","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5065656010","display_name":"Qiang Meng","orcid":"https://orcid.org/0000-0002-0724-5831"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiang Meng","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","Department of Automation, Tsinghua University, Beijing (China)"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing (China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375792","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-2980-6281"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","Department of Automation, Tsinghua University, Beijing (China)"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing (China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101646546","display_name":"Jingfeng He","orcid":"https://orcid.org/0000-0001-6866-811X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingfeng He","raw_affiliation_strings":["School of Mechatronic Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101444025","display_name":"Jingyan Song","orcid":"https://orcid.org/0000-0001-9790-8573"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyan Song","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","Department of Automation, Tsinghua University, Beijing (China)"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing (China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076854982","display_name":"Xuedong Chen","orcid":"https://orcid.org/0000-0001-9459-8418"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuedong Chen","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science & Technology, Wuhan, China","School of Mechanical Science and Engineering , Huazhong University of Science and Technology , Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering , Huazhong University of Science and Technology , Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065656010"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":3.9413,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.93304651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"47","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9979000091552734,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9933000206947327,"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/robustness","display_name":"Robustness (evolution)","score":0.7526675462722778},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6857096552848816},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5999526381492615},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5937790274620056},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.5785151720046997},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.556594729423523},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5320972204208374},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5236154198646545},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5084254145622253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4874260723590851},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4374644160270691},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3697972297668457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09998750686645508},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0885407030582428}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7526675462722778},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6857096552848816},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5999526381492615},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5937790274620056},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.5785151720046997},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.556594729423523},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5320972204208374},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5236154198646545},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5084254145622253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4874260723590851},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4374644160270691},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3697972297668457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09998750686645508},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0885407030582428},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911211192493","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211192493","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1502397486","https://openalex.org/W1964587260","https://openalex.org/W1980657769","https://openalex.org/W1981452540","https://openalex.org/W1985927609","https://openalex.org/W1993713840","https://openalex.org/W1993937859","https://openalex.org/W1996679792","https://openalex.org/W2002492977","https://openalex.org/W2026938964","https://openalex.org/W2027972490","https://openalex.org/W2041564540","https://openalex.org/W2042628721","https://openalex.org/W2053411443","https://openalex.org/W2053674295","https://openalex.org/W2054398759","https://openalex.org/W2056651708","https://openalex.org/W2059314518","https://openalex.org/W2065927905","https://openalex.org/W2076029065","https://openalex.org/W2077129956","https://openalex.org/W2077757260","https://openalex.org/W2091881639","https://openalex.org/W2096106931","https://openalex.org/W2113308643","https://openalex.org/W2143169357","https://openalex.org/W2155036992","https://openalex.org/W2167261330","https://openalex.org/W2370443509","https://openalex.org/W2390135900","https://openalex.org/W4240474317","https://openalex.org/W7057506341"],"related_works":["https://openalex.org/W100717968","https://openalex.org/W2065488776","https://openalex.org/W2126688703","https://openalex.org/W2067224748","https://openalex.org/W2098054711","https://openalex.org/W2044390506","https://openalex.org/W2002991661","https://openalex.org/W1666294236","https://openalex.org/W2165138017","https://openalex.org/W2047787160"],"abstract_inverted_index":{"Purpose":[0],"The":[1,86,106,130,238,286],"precise":[2],"control":[3,230],"and":[4,76,80,103,120,133,159,182,196,232,290],"dynamic":[5,108],"analysis":[6],"of":[7,35,52,66,96,99,110,150,191,203,214,241,260,302],"the":[8,19,32,36,41,50,53,57,67,74,78,93,97,111,117,127,134,144,148,151,156,160,168,179,184,189,192,200,204,212,215,219,252,258,261,264,272,283,300,303],"electrical":[9,37,58,112],"Stewart":[10,38,59,113],"platform":[11,114,157,193],"have":[12],"not":[13,278],"been":[14,279],"so":[15],"well":[16,280],"treated":[17,281],"in":[18,226,282],"literature.":[20,285],"This":[21],"paper":[22,243],"aims":[23],"to":[24,30,48,91,125,141,245,298],"design":[25,126],"a":[26,174,227,233,247,269,291],"novel":[27,128,145,169,205,220,248],"model\u2010based":[28,136,170,186,221,249,293,305],"controller":[29,132,137,152,171,181,206,222,250,276,289,294],"improve":[31],"tracing":[33,176,201],"performance":[34,177,202],"platform.":[39,105],"Moreover,":[40,147],"simulations":[42],"under":[43],"uncertain":[44],"environments":[45,190],"are":[46,123,138,295],"used":[47,90,124,225],"verify":[49,299],"robustness":[51,149,213,259],"controller.":[54,129,187,216,262,306],"Design/methodology/approach":[55],"In":[56],"platform,":[60],"there":[61],"exist":[62],"two":[63],"special":[64],"movements":[65,98],"motor":[68,70,100,118,253],"systems:":[69],"systems'":[71,254],"movement":[72],"with":[73,143,194],"actuators":[75,102],"meanwhile":[77],"rotors":[79],"snails'":[81],"rotation":[82],"around":[83],"their":[84],"axis.":[85],"Kane":[87],"equation":[88],"is":[89,153,207,244],"compute":[92],"driven":[94],"torque":[95],"systems,":[101],"movable":[104],"improved":[107,273,304],"models":[109],"which":[115,210,256],"consider":[116],"systems":[119],"actuators'":[121],"influences":[122],"PID":[131,180,288],"simple":[135,185,292],"also":[139,208,296],"developed":[140],"compare":[142],"one.":[146],"verified":[154],"by":[155],"friction":[158,195],"parameters":[161,198],"uncertainty.":[162],"Findings":[163],"Simulation":[164],"results":[165],"show":[166],"that":[167],"can":[172,223],"gain":[173],"better":[175],"than":[178],"even":[183],"Under":[188],"5%":[197],"variety,":[199],"satisfactory,":[209],"verifies":[211],"Most":[217],"importantly,":[218],"be":[224],"higher":[228],"precision":[229],"demand":[231],"more":[234],"complicated":[235],"environment.":[236],"Originality/value":[237],"main":[239],"contribution":[240],"this":[242],"derive":[246],"considering":[251],"influence,":[255],"enhances":[257],"To":[263],"authors'":[265],"best":[266],"knowledge,":[267],"such":[268],"framework":[270],"for":[271],"model":[274],"based":[275],"has":[277],"past":[284],"conventional":[287],"built":[297],"advantages":[301]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}