{"id":"https://openalex.org/W2120532569","doi":"https://doi.org/10.1109/cca.2004.1387230","title":"A multiestimation-based scheme for robustly stable adaptive control of robotic manipulators","display_name":"A multiestimation-based scheme for robustly stable adaptive control of robotic manipulators","publication_year":2005,"publication_date":"2005-03-21","ids":{"openalex":"https://openalex.org/W2120532569","doi":"https://doi.org/10.1109/cca.2004.1387230","mag":"2120532569"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2004.1387230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2004.1387230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.","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/A5072225338","display_name":"Asier Ibeas","orcid":"https://orcid.org/0000-0001-5094-3152"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ibeas","raw_affiliation_strings":["Departmento de Ingenier\u00eda de Sistemas y Automatica Facultad de Ciencia y Tecnologia, Universidad del Pa\u00ecs Vasco, Bilbao, Spain","Dipt. de Ingenieria de Sistemas y Autom., Pais Vasco Univ., Bilbao, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmento de Ingenier\u00eda de Sistemas y Automatica Facultad de Ciencia y Tecnologia, Universidad del Pa\u00ecs Vasco, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]},{"raw_affiliation_string":"Dipt. de Ingenieria de Sistemas y Autom., Pais Vasco Univ., Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042326806","display_name":"Manuel De la Sen","orcid":"https://orcid.org/0000-0001-9320-9433"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. de la Sen","raw_affiliation_strings":["Departmento de Ingenier\u00eda de Sistemas y Automatica Facultad de Ciencia y Tecnologia, Universidad del Pa\u00ecs Vasco, Bilbao, Spain","Dipt. de Ingenieria de Sistemas y Autom., Pais Vasco Univ., Bilbao, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmento de Ingenier\u00eda de Sistemas y Automatica Facultad de Ciencia y Tecnologia, Universidad del Pa\u00ecs Vasco, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]},{"raw_affiliation_string":"Dipt. de Ingenieria de Sistemas y Autom., Pais Vasco Univ., Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9408,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87892355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"315","last_page":"320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9994999766349792,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9994999766349792,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9988999962806702,"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":0.836444079875946},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6687384843826294},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6553469896316528},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5996888875961304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.575056254863739},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5525496006011963},{"id":"https://openalex.org/keywords/adaptive-estimator","display_name":"Adaptive estimator","score":0.49434733390808105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4841538071632385},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.44264334440231323},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4357125163078308},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4224832355976105},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3551478385925293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2750236392021179},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2131626009941101},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19791805744171143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1709228754043579}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.836444079875946},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6687384843826294},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6553469896316528},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5996888875961304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.575056254863739},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5525496006011963},{"id":"https://openalex.org/C2780617739","wikidata":"https://www.wikidata.org/wiki/Q4680738","display_name":"Adaptive estimator","level":3,"score":0.49434733390808105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4841538071632385},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.44264334440231323},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4357125163078308},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4224832355976105},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3551478385925293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2750236392021179},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2131626009941101},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19791805744171143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1709228754043579},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2004.1387230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2004.1387230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1596951786","https://openalex.org/W2111367974","https://openalex.org/W2116243329","https://openalex.org/W2120512179","https://openalex.org/W2158796185","https://openalex.org/W2323447981","https://openalex.org/W2913106995"],"related_works":["https://openalex.org/W1969972167","https://openalex.org/W124575924","https://openalex.org/W1967607551","https://openalex.org/W2005977788","https://openalex.org/W1611005925","https://openalex.org/W2066029515","https://openalex.org/W1968426800","https://openalex.org/W2045695542","https://openalex.org/W4226296479","https://openalex.org/W2126646634"],"abstract_inverted_index":{"A":[0,75],"multiestimation-based":[1,98],"adaptive":[2,61,106],"controller":[3,62],"is":[4,12,92,118,168],"designed":[5],"for":[6],"robotic":[7,186],"manipulators.":[8],"The":[9,116,165],"control":[10,141,159],"scheme":[11],"composed":[13],"by":[14,108,120],"a":[15,28,48,71,126],"set":[16],"of":[17,41,70,105,177,184],"estimation":[18,25,36,114,150],"algorithms":[19],"running":[20],"in":[21,31,43,63,85,162],"parallel.":[22],"Moreover,":[23],"each":[24],"algorithm":[26,53],"incorporates":[27],"relative":[29],"dead-zone":[30],"order":[32,50,86],"to":[33,67,87,155,170,180],"guarantee":[34,88],"adequate":[35],"properties":[37],"under":[38,174],"the":[39,44,56,60,68,97,102,112,131,134,140,144,149,157,163,175,185],"influence":[40,176],"uncertainties":[42,178],"system's":[45],"model.":[46],"Then,":[47],"higher":[49],"level":[51],"supervision":[52],"decides":[54],"online":[55],"estimator,":[57],"which":[58,137],"parameterize":[59],"real":[64],"time":[65,78],"according":[66],"values":[69],"proposed":[72],"supervisory":[73],"index.":[74],"minimum":[76],"residence":[77],"between":[79,111,133],"consecutive":[80],"switchings":[81],"must":[82],"be":[83,171],"stated":[84],"closed-loop":[89,166],"stability.":[90],"It":[91],"verified":[93],"through":[94],"simulations":[95],"that":[96],"technique":[99],"can":[100],"improve":[101],"transient":[103],"response":[104],"systems":[107],"appropriate":[109],"switching":[110],"various":[113],"schemes.":[115],"robot":[117],"controlled":[119],"using":[121],"an":[122,181],"impedance-type":[123],"control.":[124],"Furthermore,":[125],"correcting":[127],"term":[128],"based":[129,147],"on":[130,148],"difference":[132],"generated":[135],"torque,":[136],"acts":[138],"as":[139],"signal,":[142],"and":[143],"estimated":[145],"one,":[146],"model,":[151],"has":[152],"been":[153],"added":[154],"modify":[156],"standard":[158],"law":[160],"used":[161],"literature.":[164],"system":[167],"proved":[169],"robustly":[172],"stable":[173],"due":[179],"imprecise":[182],"modelling":[183],"manipulator.":[187]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}