{"id":"https://openalex.org/W2907708166","doi":"https://doi.org/10.1109/access.2018.2890669","title":"A Position-Based Friction Error Model and Its Application to Parameter Identification","display_name":"A Position-Based Friction Error Model and Its Application to Parameter Identification","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2907708166","doi":"https://doi.org/10.1109/access.2018.2890669","mag":"2907708166"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2890669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2890669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08598802.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08598802.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051631432","display_name":"Dailin Zhang","orcid":"https://orcid.org/0000-0001-9848-4610"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dailin Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048483907","display_name":"Yihao Niu","orcid":null},"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":"Yihao Niu","raw_affiliation_strings":["School of Mechanical Science and Engineering, State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051631432"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6738,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68819179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"7759","last_page":"7767"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9977999925613403,"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/T13644","display_name":"Control Systems in Engineering","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7831686735153198},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7104405760765076},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6580042839050293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.645832896232605},{"id":"https://openalex.org/keywords/friction-torque","display_name":"Friction torque","score":0.6222802400588989},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6063557267189026},{"id":"https://openalex.org/keywords/position-error","display_name":"Position error","score":0.5278648734092712},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.5060152411460876},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4919738471508026},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4394022226333618},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.43506595492362976},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43396297097206116},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.341795951128006},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27199190855026245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2330893874168396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19725850224494934},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1528213620185852},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.08143219351768494},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07273051142692566}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7831686735153198},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7104405760765076},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6580042839050293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.645832896232605},{"id":"https://openalex.org/C163274877","wikidata":"https://www.wikidata.org/wiki/Q5503435","display_name":"Friction torque","level":3,"score":0.6222802400588989},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6063557267189026},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.5278648734092712},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5060152411460876},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4919738471508026},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4394022226333618},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.43506595492362976},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43396297097206116},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.341795951128006},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27199190855026245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2330893874168396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19725850224494934},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1528213620185852},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.08143219351768494},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07273051142692566},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2890669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2890669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08598802.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ec4d638bda58409e8c9f56e2040a70a1","is_oa":true,"landing_page_url":"https://doaj.org/article/ec4d638bda58409e8c9f56e2040a70a1","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 7759-7767 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2890669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2890669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08598802.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1880386336","display_name":null,"funder_award_id":"China Scholarship Council (CSC)","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1979540081","display_name":null,"funder_award_id":"201706","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2300736770","display_name":null,"funder_award_id":"(CSC)","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3664028114","display_name":null,"funder_award_id":"201706165014","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G3713317316","display_name":null,"funder_award_id":"51775215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8249988860","display_name":null,"funder_award_id":"51535004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8589651859","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2907708166.pdf","grobid_xml":"https://content.openalex.org/works/W2907708166.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1562251502","https://openalex.org/W1762113120","https://openalex.org/W1963895581","https://openalex.org/W1978646917","https://openalex.org/W1996885322","https://openalex.org/W2038925750","https://openalex.org/W2039440469","https://openalex.org/W2055546124","https://openalex.org/W2066507076","https://openalex.org/W2071868481","https://openalex.org/W2088480252","https://openalex.org/W2112975018","https://openalex.org/W2147346786","https://openalex.org/W2166271005","https://openalex.org/W2278334039","https://openalex.org/W2339043090","https://openalex.org/W2408620691","https://openalex.org/W2438734358","https://openalex.org/W2496953169","https://openalex.org/W2548948228","https://openalex.org/W2567899341","https://openalex.org/W2611815608","https://openalex.org/W2760419565","https://openalex.org/W2890400916","https://openalex.org/W4243419932","https://openalex.org/W6633721741","https://openalex.org/W6644918451","https://openalex.org/W6672522177","https://openalex.org/W6714143408"],"related_works":["https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W2030384469","https://openalex.org/W2317393884","https://openalex.org/W2368940194","https://openalex.org/W2366095669","https://openalex.org/W2172103697","https://openalex.org/W2355083960","https://openalex.org/W2361525295","https://openalex.org/W3096393112"],"abstract_inverted_index":{"Most":[0],"existing":[1],"methods":[2],"rely":[3],"on":[4,59],"the":[5,14,19,25,42,51,54,60,73,78,83,109],"torque":[6,26,63],"information":[7,27,64,111],"of":[8,53],"a":[9,37],"servo":[10],"drive":[11],"to":[12,49,103],"predict":[13,77],"tracking":[15],"error":[16,57,80,96],"caused":[17],"by":[18],"friction":[20,43,56,79,95],"force":[21],"(friction":[22],"error),":[23],"but":[24],"is":[28,65,112],"not":[29,66],"available":[30],"in":[31],"certain":[32],"systems.":[33],"This":[34],"paper":[35],"proposes":[36],"position-based":[38,94],"modeling":[39],"method":[40,75,88],"for":[41],"error.":[44],"Two":[45],"examples":[46],"are":[47],"given":[48],"verify":[50],"practicality":[52],"proposed":[55,74,84,93],"model":[58,97],"systems":[61,106],"when":[62],"available.":[67],"The":[68,92],"experimental":[69],"results":[70],"show":[71],"that":[72],"can":[76,98],"accurately":[81],"and":[82],"online":[85],"parameter":[86],"identification":[87],"exhibits":[89],"better":[90],"performance.":[91],"also":[99],"be":[100],"easily":[101],"applied":[102],"commercial":[104],"CNC":[105],"because":[107],"only":[108],"position":[110],"required.":[113]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}