{"id":"https://openalex.org/W3024560037","doi":"https://doi.org/10.1109/access.2020.2994004","title":"Stabilization of Robots With a Regulator Containing the Sigmoid Mapping","display_name":"Stabilization of Robots With a Regulator Containing the Sigmoid Mapping","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3024560037","doi":"https://doi.org/10.1109/access.2020.2994004","mag":"3024560037"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2994004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09091178.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09091178.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101923594","display_name":"Dany Ivan Martinez","orcid":"https://orcid.org/0000-0002-9133-9477"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Dany Ivan Martinez","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045107243","display_name":"Jos\u00e9 de Jes\u00fas Rubio","orcid":"https://orcid.org/0000-0002-2005-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jose Jesus De Rubio","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":"https://orcid.org/0000-0002-2005-5979","affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024382996","display_name":"Tomas Miguel Vargas","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Tomas Miguel Vargas","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050992598","display_name":"V. Garcia","orcid":"https://orcid.org/0000-0003-2473-807X"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Victor Garcia","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058097536","display_name":"Genaro Ochoa","orcid":"https://orcid.org/0000-0001-6261-4081"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Genaro Ochoa","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":"https://orcid.org/0000-0001-6261-4081","affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021269545","display_name":"Ricardo Balc\u00e1zar","orcid":"https://orcid.org/0000-0003-0384-8616"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ricardo Balcazar","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043764310","display_name":"David Ricardo Cruz","orcid":"https://orcid.org/0000-0002-5511-1053"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"David Ricardo Cruz","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030741321","display_name":"Arturo Aguilar","orcid":"https://orcid.org/0000-0002-4023-3429"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Arturo Aguilar","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073149047","display_name":"Juan Francisco Novoa","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Juan Francisco Novoa","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Esime Azcapotzalco, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041332004","display_name":"Carlos Aguilar-Ib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0003-3925-2435"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Carlos Aguilar-Ibanez","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Computaci\u00f3n, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico"],"raw_orcid":"https://orcid.org/0000-0003-3925-2435","affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Computaci\u00f3n, Instituto Polit\u00e9cnico Nacional, M\u00e9xico City, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5101923594"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.9933,"has_fulltext":true,"cited_by_count":47,"citation_normalized_percentile":{"value":0.97515878,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"89479","last_page":"89488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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":0.9987000226974487,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962000250816345,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9941999912261963,"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/regulator","display_name":"Regulator","score":0.889117956161499},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.8378443717956543},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6928157210350037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6760029792785645},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6395518183708191},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5035867094993591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4997110366821289},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3389567732810974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24163371324539185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22204214334487915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1771768033504486},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16339239478111267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10389474034309387}],"concepts":[{"id":"https://openalex.org/C6929976","wikidata":"https://www.wikidata.org/wiki/Q3771881","display_name":"Regulator","level":3,"score":0.889117956161499},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.8378443717956543},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6928157210350037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6760029792785645},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6395518183708191},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5035867094993591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4997110366821289},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3389567732810974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24163371324539185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22204214334487915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1771768033504486},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16339239478111267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10389474034309387},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2994004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09091178.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1275ab9edeef4fceacc5c120ebed20ba","is_oa":true,"landing_page_url":"https://doaj.org/article/1275ab9edeef4fceacc5c120ebed20ba","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 8, Pp 89479-89488 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2994004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09091178.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321694","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"},{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324217","display_name":"Comisi\u00f3n de Operaci\u00f3n y Fomento de Actividades Acad\u00e9micas, Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3024560037.pdf","grobid_xml":"https://content.openalex.org/works/W3024560037.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W2097406618","https://openalex.org/W2523060175","https://openalex.org/W2524456220","https://openalex.org/W2556434682","https://openalex.org/W2734514546","https://openalex.org/W2790646743","https://openalex.org/W2806935297","https://openalex.org/W2808667805","https://openalex.org/W2811510003","https://openalex.org/W2901598038","https://openalex.org/W2902231809","https://openalex.org/W2903102125","https://openalex.org/W2911210639","https://openalex.org/W2911457626","https://openalex.org/W2911876139","https://openalex.org/W2912881601","https://openalex.org/W2916337104","https://openalex.org/W2921336410","https://openalex.org/W2926228387","https://openalex.org/W2942510244","https://openalex.org/W2945392982","https://openalex.org/W2946334697","https://openalex.org/W2946526937","https://openalex.org/W2947348882","https://openalex.org/W2951382473","https://openalex.org/W2952207320","https://openalex.org/W2966857419","https://openalex.org/W2971430195","https://openalex.org/W2972572561","https://openalex.org/W2978131474","https://openalex.org/W2979392298","https://openalex.org/W3000626952","https://openalex.org/W3003570764","https://openalex.org/W3011087738"],"related_works":["https://openalex.org/W4385957115","https://openalex.org/W2061372042","https://openalex.org/W3047779762","https://openalex.org/W1520030019","https://openalex.org/W2071654592","https://openalex.org/W2088157920","https://openalex.org/W4283785902","https://openalex.org/W4313324256","https://openalex.org/W3104477175","https://openalex.org/W2019022049"],"abstract_inverted_index":{"Actuators":[0],"nonlinearities":[1,30],"are":[2,9],"unknown":[3],"external":[4],"perturbations":[5],"in":[6],"robots,":[7],"which":[8],"unwanted":[10],"because":[11],"they":[12],"can":[13],"severely":[14],"limit":[15],"their":[16],"performance.":[17],"This":[18],"research":[19],"is":[20,50,63,81],"focused":[21],"on":[22],"the":[23,35,41,56,61,66,69,74,79,84,93],"stabilization":[24,80,94],"of":[25,55,68,73,95],"robots":[26],"subject":[27],"to":[28,52],"actuators":[29],"with":[31],"a":[32,47],"regulator":[33,39,57,91],"containing":[34],"sigmoid":[36,48],"mapping.":[37],"Our":[38],"has":[40],"following":[42],"three":[43],"main":[44],"characteristics:":[45],"a)":[46],"mapping":[49,71],"used":[51],"ensure":[53],"boundedness":[54],"law":[58],"terms,":[59],"b)":[60],"chattering":[62],"reduced":[64],"by":[65,83],"usage":[67],"saturation":[70],"instead":[72],"signum":[75],"mapping,":[76],"and":[77],"c)":[78],"ensured":[82],"Lyapunov":[85],"analysis.":[86],"Finally,":[87],"we":[88],"evaluate":[89],"our":[90],"for":[92],"two":[96],"robots.":[97]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":8}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
