{"id":"https://openalex.org/W2148878664","doi":"https://doi.org/10.1109/acc.2009.5159888","title":"Nonlinear adaptive H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; control of constrained robotic manipulators with input nonlinearity","display_name":"Nonlinear adaptive H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; control of constrained robotic manipulators with input nonlinearity","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2148878664","doi":"https://doi.org/10.1109/acc.2009.5159888","mag":"2148878664"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5159888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-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/A5062099702","display_name":"Yoshihiko Miyasato","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yoshihiko Miyasato","raw_affiliation_strings":["Tokei Suri Kenkyujo, Minato-ku, Tokyo, JP"],"affiliations":[{"raw_affiliation_string":"Tokei Suri Kenkyujo, Minato-ku, Tokyo, JP","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5062099702"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12345998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":null,"first_page":"2000","last_page":"2005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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":0.9973999857902527,"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":0.7325899600982666},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6957354545593262},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6500022411346436},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6256371736526489},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6000458002090454},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5040513277053833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37782442569732666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3706164062023163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36606842279434204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1734199821949005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08696192502975464}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7325899600982666},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6957354545593262},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6500022411346436},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6256371736526489},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6000458002090454},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5040513277053833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37782442569732666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3706164062023163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36606842279434204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1734199821949005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08696192502975464},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5159888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-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/W59013988","https://openalex.org/W89510016","https://openalex.org/W1496777766","https://openalex.org/W1520459220","https://openalex.org/W1551596967","https://openalex.org/W1977406024","https://openalex.org/W2067603665","https://openalex.org/W2092258665","https://openalex.org/W2099529764","https://openalex.org/W2103510991","https://openalex.org/W2107957546","https://openalex.org/W2119529803","https://openalex.org/W2132518661","https://openalex.org/W2146342888","https://openalex.org/W2147240540","https://openalex.org/W2152301784","https://openalex.org/W2152737511","https://openalex.org/W2317915069","https://openalex.org/W2397732761","https://openalex.org/W6673473034","https://openalex.org/W6674807454","https://openalex.org/W6712352755"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W1519967309","https://openalex.org/W2094489189"],"abstract_inverted_index":{"The":[0,64],"problem":[1],"of":[2,11,42,73,84,88,94],"constructing":[3],"nonlinear":[4],"adaptive":[5,34],"H":[6,75],"<sub":[7,76],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[8,77],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">infin</sub>":[9,78],"control":[10,32,66,79],"constrained":[12,52],"robotic":[13],"manipulators":[14],"with":[15],"uncertain":[16],"input":[17,43],"nonlinearities":[18],"such":[19],"as":[20,70,100],"dead-zone":[21],"or":[22],"backlash,":[23],"is":[24,68],"considered":[25],"in":[26],"this":[27],"paper.":[28],"In":[29],"the":[30,46,50,55,60,95,104],"proposed":[31],"scheme,":[33],"inverse":[35,96],"models":[36],"are":[37,98],"introduced":[38],"to":[39,49,103],"compensate":[40],"effects":[41],"nonlinearities,":[44],"and":[45,54,91],"trajectory":[47],"converges":[48],"desired":[51,61],"trajectory,":[53],"constraint":[56,62,89],"force":[57],"also":[58],"follows":[59],"one.":[63],"resulting":[65],"strategy":[67],"derived":[69],"a":[71],"solution":[72],"certain":[74],"problem,":[80],"where":[81],"estimation":[82],"errors":[83,87],"tuning":[85],"parameters,":[86],"forces":[90],"residual":[92],"terms":[93],"models,":[97],"regarded":[99],"external":[101],"disturbances":[102],"process.":[105]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
