{"id":"https://openalex.org/W2947982668","doi":"https://doi.org/10.1109/access.2019.2919749","title":"Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint","display_name":"Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2947982668","doi":"https://doi.org/10.1109/access.2019.2919749","mag":"2947982668"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2919749","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2919749","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08725577.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/ielx7/6287639/8600701/08725577.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036012838","display_name":"Kerui Xia","orcid":"https://orcid.org/0000-0001-9199-7309"},"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":"Kerui Xia","raw_affiliation_strings":["Department of Electrical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026185947","display_name":"Hongjun Xing","orcid":"https://orcid.org/0000-0002-2683-0964"},"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":"Hongjun Xing","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"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":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"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":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044198396","display_name":"Guangjun Liu","orcid":"https://orcid.org/0000-0002-3301-1166"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guangjun Liu","raw_affiliation_strings":["Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"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":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036012838"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.176,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.78863751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"91582","last_page":"91592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998000264167786,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998000264167786,"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":0.9997000098228455,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/control-theory","display_name":"Control theory (sociology)","score":0.7535541653633118},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6579291820526123},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6510823369026184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6323912143707275},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.439698725938797},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.43086564540863037},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.4274041950702667},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4266001284122467},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42623648047447205},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3385249972343445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20687291026115417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1765625774860382},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14460015296936035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12953686714172363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12189900875091553}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7535541653633118},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6579291820526123},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6510823369026184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6323912143707275},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.439698725938797},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.43086564540863037},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.4274041950702667},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4266001284122467},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42623648047447205},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3385249972343445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20687291026115417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1765625774860382},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14460015296936035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12953686714172363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12189900875091553},{"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2919749","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2919749","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08725577.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:3052cbafaadb48b481e913c495094bd0","is_oa":true,"landing_page_url":"https://doaj.org/article/3052cbafaadb48b481e913c495094bd0","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 91582-91592 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2919749","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2919749","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08725577.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":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"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/G1474490597","display_name":null,"funder_award_id":"111 Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1522862786","display_name":null,"funder_award_id":"1521003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1826238249","display_name":null,"funder_award_id":"B07018","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"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/G387971928","display_name":null,"funder_award_id":"B07018","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"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/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4484204998","display_name":null,"funder_award_id":"B07018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5383534787","display_name":null,"funder_award_id":"51521003","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/G7174558747","display_name":null,"funder_award_id":"Group","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7429386803","display_name":null,"funder_award_id":"51822502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8245134708","display_name":null,"funder_award_id":"201903","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G852853916","display_name":null,"funder_award_id":"HIT.BRETIV.201903","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8951484681","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G937128327","display_name":null,"funder_award_id":"201903","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2947982668.pdf","grobid_xml":"https://content.openalex.org/works/W2947982668.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1059717899","https://openalex.org/W1990851787","https://openalex.org/W1995090200","https://openalex.org/W1997275239","https://openalex.org/W1997316724","https://openalex.org/W2004841531","https://openalex.org/W2030913535","https://openalex.org/W2038620839","https://openalex.org/W2040861318","https://openalex.org/W2056299400","https://openalex.org/W2090108740","https://openalex.org/W2112469347","https://openalex.org/W2127572968","https://openalex.org/W2131936758","https://openalex.org/W2135799373","https://openalex.org/W2148555477","https://openalex.org/W2150335084","https://openalex.org/W2151549111","https://openalex.org/W2211016660","https://openalex.org/W2283778102","https://openalex.org/W2504581443","https://openalex.org/W2532073048","https://openalex.org/W2537285870","https://openalex.org/W2611677267","https://openalex.org/W2768174095","https://openalex.org/W2783979687","https://openalex.org/W2800663337","https://openalex.org/W2891589785","https://openalex.org/W2924396848","https://openalex.org/W4245550013"],"related_works":["https://openalex.org/W4313561376","https://openalex.org/W3103825105","https://openalex.org/W3027880158","https://openalex.org/W2009149991","https://openalex.org/W2245353192","https://openalex.org/W2160011236","https://openalex.org/W76816740","https://openalex.org/W2185220635","https://openalex.org/W2069228476","https://openalex.org/W2114097577"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"a":[3,10,18,28,125,165,184,188],"problem":[4],"that":[5,24],"has":[6,77,161],"plagued":[7],"researchers":[8],"for":[9,114,138,147],"long":[11],"time":[12],"regarding":[13],"the":[14,49,64,70,90,101,115,135,139,143,148,169,173,201],"dynamic":[15,145],"modeling":[16,71],"of":[17,42,66,92,118,157,205],"multiple":[19],"degree-of-freedom":[20],"(multi-DOF)":[21],"manipulator":[22,55,149,175],"such":[23],"its":[25,193],"manipulation":[26],"exhibits":[27,89],"higher":[29],"computational":[30],"efficiency":[31,204],"and":[32,44,96,172,178,203],"accuracy.":[33],"Unknown":[34],"friction,":[35],"unknown":[36],"gravitational":[37],"torque,":[38],"an":[39,111],"uncertain":[40],"moment":[41],"inertia,":[43],"severe":[45],"joint":[46,59,93,151],"coupling":[47],"are":[48],"primary":[50],"disturbing":[51],"factors":[52],"in":[53,134,195],"multi-DOF":[54,140,174],"modeling.":[56],"In":[57,108],"addition,":[58],"flexible":[60],"problems":[61],"caused":[62],"by":[63,164],"integration":[65],"harmonic":[67,119],"drives":[68,120],"increase":[69],"complexity.":[72],"Hitherto,":[73],"no":[74],"effective":[75],"method":[76,88,113,131,160],"been":[78,162,181],"found":[79],"to":[80,191],"address":[81],"these":[82],"problems.":[83],"The":[84,155,198],"virtual":[85],"decomposition":[86],"(VD)-based":[87],"advantages":[91],"dynamics":[94],"decoupling":[95,144],"minor":[97],"computation":[98],"compared":[99],"with":[100,168,183],"traditional":[102],"Lagrangian":[103],"formulation":[104],"or":[105],"Newton-Euler":[106,170],"formulation.":[107],"this":[109,130,158],"study,":[110],"estimation":[112],"deformation-related":[116],"torque":[117],"is":[121,132,153],"established":[122],"based":[123],"on":[124],"novel":[126],"experimental":[127],"model;":[128],"subsequently,":[129],"utilized":[133],"VD-based":[136,185],"model":[137,146,186],"manipulator.":[141],"Hence,":[142],"considering":[150],"flexibility":[152],"established.":[154],"performance":[156,194],"new":[159],"evaluated":[163],"contrast":[166],"simulation":[167,177],"formulation,":[171],"control":[176],"experiment":[179],"have":[180],"conducted":[182],"as":[187],"feedforward":[189],"compensator":[190],"verify":[192],"real-time":[196],"control.":[197],"results":[199],"demonstrated":[200],"validity":[202],"e":[206],"proposed":[207],"approach.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
