{"id":"https://openalex.org/W2028041634","doi":"https://doi.org/10.1109/acc.2014.6858900","title":"Output-feedback global tracking control of robot manipulators with flexible joints","display_name":"Output-feedback global tracking control of robot manipulators with flexible joints","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2028041634","doi":"https://doi.org/10.1109/acc.2014.6858900","mag":"2028041634"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6858900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5090052067","display_name":"Antonio Lor\u0131\u0301a","orcid":"https://orcid.org/0000-0003-4223-9397"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Loria","raw_affiliation_strings":["Laboratoire des Signaux et Systemes, Gif sur Yvette, \u00c3\u017dle-de-France, FR","LSS-Supelec, Gif\u2013sur\u2013Yvette, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes, Gif sur Yvette, \u00c3\u017dle-de-France, FR","institution_ids":["https://openalex.org/I4210097418"]},{"raw_affiliation_string":"LSS-Supelec, Gif\u2013sur\u2013Yvette, France","institution_ids":["https://openalex.org/I102475099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074851496","display_name":"Sof\u00eda Avila\u2010Becerril","orcid":"https://orcid.org/0000-0001-7734-5718"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Sofia Avila-Becerril","raw_affiliation_strings":["Universidad Nacional Autonoma de Mexico, Coyoacan, Distrito Federal, MX","DEPFI, UNAM, Me\u0301xico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Nacional Autonoma de Mexico, Coyoacan, Distrito Federal, MX","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"DEPFI, UNAM, Me\u0301xico City, Mexico","institution_ids":["https://openalex.org/I8961855"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6119,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8540766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4032","last_page":"4037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9969000220298767,"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":0.9969000220298767,"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":0.9916999936103821,"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":0.9840999841690063,"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":0.6425076127052307},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6198592185974121},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5471845269203186},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5441646575927734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5371426343917847},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49100783467292786},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47241201996803284},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4586479961872101},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4423426687717438},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42674803733825684},{"id":"https://openalex.org/keywords/output-feedback","display_name":"Output feedback","score":0.41081422567367554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29591917991638184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25860124826431274},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24400272965431213}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6425076127052307},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6198592185974121},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5471845269203186},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5441646575927734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5371426343917847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49100783467292786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47241201996803284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4586479961872101},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4423426687717438},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42674803733825684},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.41081422567367554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29591917991638184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25860124826431274},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24400272965431213},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2014.6858900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01357348v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01357348","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE American Control Conference 2014, Jun 2014, Portland, OR, United States. pp.4032-4037, ⟨10.1109/ACC.2014.6858900⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1867464835","https://openalex.org/W1995090200","https://openalex.org/W2079792035","https://openalex.org/W2084828843","https://openalex.org/W2116473704","https://openalex.org/W2125248216","https://openalex.org/W2127267266","https://openalex.org/W2148578221","https://openalex.org/W2153974855","https://openalex.org/W2154649903","https://openalex.org/W2158516389","https://openalex.org/W2169064059","https://openalex.org/W2171398733","https://openalex.org/W2566690868","https://openalex.org/W4210939600"],"related_works":["https://openalex.org/W2334516743","https://openalex.org/W2486306719","https://openalex.org/W2106487132","https://openalex.org/W2369282358","https://openalex.org/W2482257683","https://openalex.org/W2001368270","https://openalex.org/W3022029778","https://openalex.org/W2019249007","https://openalex.org/W4287553357","https://openalex.org/W2800406697"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,16,26],"controller":[3,18],"for":[4,68],"flexible-joint":[5],"robots":[6],"without":[7],"link":[8,45],"velocity":[9],"measurement.":[10],"Our":[11],"main":[12],"result":[13],"consists":[14],"in":[15,62],"simple":[17],"of":[19,28,36,58],"the":[20,31,42,69],"type":[21],"proportional-derivative":[22],"plus":[23],"feedforward":[24],"and":[25,48],"series":[27],"cascaded":[29],"filters;":[30],"control":[32],"design":[33],"is":[34],"reminiscent":[35],"classical":[37],"backstepping":[38],"control.":[39],"To":[40],"avoid":[41],"assumption":[43],"that":[44],"velocities,":[46],"accelerations":[47],"jerks":[49],"are":[50],"measured,":[51],"we":[52],"use":[53],"approximate":[54],"differentiation.":[55],"The":[56],"originality":[57],"our":[59],"work":[60],"lays":[61],"establishing":[63],"uniform":[64],"global":[65],"asymptotic":[66],"stability":[67],"closed-loop":[70],"system.":[71]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}