{"id":"https://openalex.org/W4410809008","doi":"https://doi.org/10.1109/access.2025.3574570","title":"Constrained Control of Fully-Constrained Cable-Driven Parallel Robots With Elastic Cables: An Optimal Robust Approach","display_name":"Constrained Control of Fully-Constrained Cable-Driven Parallel Robots With Elastic Cables: An Optimal Robust Approach","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410809008","doi":"https://doi.org/10.1109/access.2025.3574570"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3574570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3574570","pdf_url":null,"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://doi.org/10.1109/access.2025.3574570","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069567256","display_name":"Hanie Marufkhani","orcid":"https://orcid.org/0000-0002-4906-1950"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hanie Marufkhani","raw_affiliation_strings":["Electrical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-4906-1950","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058561416","display_name":"Mohammad A. Khosravi","orcid":"https://orcid.org/0000-0003-3619-4911"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad A. Khosravi","raw_affiliation_strings":["Electrical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0003-3619-4911","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6994,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84048885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"96031","last_page":"96045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9904999732971191,"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":0.9904999732971191,"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":0.9864000082015991,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9634000062942505,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robot","display_name":"Robot","score":0.6398804187774658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6394898295402527},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4077218472957611},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3589411973953247},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3264853060245514},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14087313413619995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11199277639389038}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6398804187774658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6394898295402527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4077218472957611},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3589411973953247},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3264853060245514},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14087313413619995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11199277639389038}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3574570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3574570","pdf_url":null,"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:c2c662ca1ed74a71968ba728be4c5865","is_oa":true,"landing_page_url":"https://doaj.org/article/c2c662ca1ed74a71968ba728be4c5865","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 13, Pp 96031-96045 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3574570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3574570","pdf_url":null,"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":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1970031354","https://openalex.org/W2013772012","https://openalex.org/W2046851205","https://openalex.org/W2048225205","https://openalex.org/W2062205503","https://openalex.org/W2118281704","https://openalex.org/W2123833118","https://openalex.org/W2125627605","https://openalex.org/W2161085359","https://openalex.org/W2468988297","https://openalex.org/W2581743178","https://openalex.org/W2609228014","https://openalex.org/W2947452822","https://openalex.org/W2973589506","https://openalex.org/W3002076286","https://openalex.org/W3022695901","https://openalex.org/W3118733133","https://openalex.org/W3119500483","https://openalex.org/W3166982997","https://openalex.org/W4313524883","https://openalex.org/W4319346147","https://openalex.org/W4383747938","https://openalex.org/W4386472868","https://openalex.org/W4388348307","https://openalex.org/W4389964402","https://openalex.org/W4390970302","https://openalex.org/W4391342814","https://openalex.org/W4392010820","https://openalex.org/W4392238114","https://openalex.org/W4395662220","https://openalex.org/W4399273554","https://openalex.org/W4402624667","https://openalex.org/W4405412169","https://openalex.org/W4408709619"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,41,59,134],"paper":[1],"discusses":[2],"the":[3,18,64,68,74,94,99,112,142,160,163,184],"robust":[4,135],"optimal":[5,136],"control":[6,43,114],"of":[7,20,67,96,162,187],"<italic":[8,85,123,129,143],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[9,86,124,130,144],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Cable-Driven":[10],"Parallel":[11],"Robots</i>":[12],"(CDPRs)":[13],"with":[14,32],"elastic":[15,75],"cables,":[16],"addressing":[17],"limitations":[19],"treating":[21],"cables":[22,47,76],"as":[23],"rigid":[24],"bodies.":[25],"This":[26,91],"simplification":[27],"is":[28,115,139,166],"inadequate":[29],"for":[30,93,183],"applications":[31],"large":[33],"workspaces,":[34],"where":[35],"cable":[36,175],"vibrations":[37],"significantly":[38],"affect":[39],"performance.":[40],"proposed":[42,164],"strategy":[44],"ensures":[45],"that":[46],"remain":[48],"under":[49],"tension":[50,176],"by":[51,151],"applying":[52],"positive":[53],"inputs,":[54],"thus":[55],"preventing":[56],"compressive":[57],"forces.":[58],"initial":[60],"step":[61],"involves":[62],"transforming":[63],"nonlinear":[65],"dynamics":[66],"CDPR":[69],"system,":[70],"which":[71,180],"includes":[72],"both":[73],"and":[77,101,108,128,177],"motor":[78],"dynamics,":[79],"into":[80],"a":[81],"linear":[82],"framework":[83],"using":[84,141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">State-Dependent":[87],"Coefficient</i>":[88],"(SDC)":[89],"parameterization.":[90],"allows":[92],"retention":[95],"nonlinearities":[97],"within":[98],"system":[100],"input":[102],"matrices":[103],"while":[104],"encapsulating":[105],"dynamic":[106],"uncertainties":[107],"external":[109],"disturbances.":[110],"Subsequently,":[111],"constrained":[113,137],"robustly":[116],"designed":[117],"utilizing":[118],"optimization":[119],"techniques":[120],"rooted":[121],"in":[122,189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Hamilton-Jacobi-Bellman</i>":[125],"(HJB)":[126],"equations":[127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Karush-Kuhn-Tucker</i>":[131],"(KKT)":[132],"conditions.":[133],"controller":[138],"formulated":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Generalized":[145],"State-Dependent":[146],"Riccati":[147],"Equation</i>":[148],"(GSDRE),":[149],"followed":[150],"stability":[152],"analysis":[153],"conducted":[154],"through":[155,168],"Lyapunov's":[156],"second":[157],"method.":[158],"Finally,":[159],"effectiveness":[161],"method":[165],"validated":[167],"simulations,":[169],"demonstrating":[170],"its":[171],"capability":[172],"to":[173],"maintain":[174],"damp":[178],"vibrations,":[179],"are":[181],"critical":[182],"operational":[185],"efficiency":[186],"CDPRs":[188],"practical":[190],"applications.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}