{"id":"https://openalex.org/W2105351138","doi":"https://doi.org/10.1109/cca.2005.1507292","title":"Robust controller with a supervisor implemented on a flexible joint robot","display_name":"Robust controller with a supervisor implemented on a flexible joint robot","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2105351138","doi":"https://doi.org/10.1109/cca.2005.1507292","mag":"2105351138"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","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/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hamid D. Taghirad","raw_affiliation_strings":["Electrical Engineering Department Advanced Robotics and Automated Systems, K.N. Toosi University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department Advanced Robotics and Automated Systems, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090165659","display_name":"Sadjaad Ozgoli","orcid":"https://orcid.org/0000-0001-8567-1679"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ozgoli","raw_affiliation_strings":["Electrical Engineering Department Advanced Robotics and Automated Systems, K.N. Toosi University of Technology, Tehran, Iran","Dept. of Electr. Eng., K N. Toosi Univ. of Technol., Tehran"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department Advanced Robotics and Automated Systems, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Dept. of Electr. Eng., K N. Toosi Univ. of Technol., Tehran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070019550"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":3.8318,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92950366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"1188","last_page":"1193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9688000082969666,"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":0.9688000082969666,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9455999732017517,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9390000104904175,"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/control-theory","display_name":"Control theory (sociology)","score":0.8318194150924683},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7008582353591919},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.69368577003479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6158234477043152},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5743749737739563},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5324472188949585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.530106782913208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5264638066291809},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.49193570017814636},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.46441835165023804},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4558310806751251},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42090222239494324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2915220558643341},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16553908586502075},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.10549980401992798},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07949471473693848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07884809374809265},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.04993388056755066}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8318194150924683},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7008582353591919},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.69368577003479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6158234477043152},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5743749737739563},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5324472188949585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.530106782913208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5264638066291809},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.49193570017814636},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.46441835165023804},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4558310806751251},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42090222239494324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2915220558643341},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16553908586502075},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.10549980401992798},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07949471473693848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07884809374809265},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.04993388056755066},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2005.1507292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W76960327","https://openalex.org/W1520358907","https://openalex.org/W1971493524","https://openalex.org/W1995090200","https://openalex.org/W2082201076","https://openalex.org/W2124742444","https://openalex.org/W2141830483","https://openalex.org/W2149112009","https://openalex.org/W2155462480","https://openalex.org/W2184295617","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4387731985","https://openalex.org/W2755149878","https://openalex.org/W2941808082","https://openalex.org/W2468425257","https://openalex.org/W2528721242","https://openalex.org/W4377009725","https://openalex.org/W4320164562","https://openalex.org/W2356364326","https://openalex.org/W204648549","https://openalex.org/W4244904831"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,27,34,38,46,74],"controller":[4,31,40,48,63,136],"for":[5],"flexible":[6],"joint":[7],"robots":[8],"(FJR)":[9],"in":[10,102],"presence":[11,103],"of":[12,33,54,61,73,82,98,104,133],"actuator":[13,56],"saturation":[14],"is":[15,20,24,57,69,86,93,106],"proposed,":[16],"its":[17],"robust":[18],"stability":[19,80,97],"analyzed,":[21],"and":[22,45,112,130],"it":[23],"implemented":[25],"on":[26,41,49],"laboratory":[28],"FJR.":[29],"This":[30,68],"consists":[32],"composite":[35],"structure,":[36],"with":[37],"PD":[39,111],"the":[42,83,99,110,113,128,131,134],"fast":[43,62],"dynamics":[44],"PID":[47,114],"slow":[50],"dynamics.":[51],"The":[52,79],"need":[53],"powerful":[55],"released":[58],"through":[59],"decrease":[60],"bandwidth":[64],"at":[65],"critical":[66],"occasions.":[67],"done":[70],"by":[71,89],"means":[72],"fuzzy":[75],"logic":[76],"supervisory":[77],"loop.":[78],"analysis":[81],"overall":[84,100],"system":[85,101],"then":[87],"analyzed":[88],"Lyapunov":[90],"theory.":[91],"It":[92],"proven":[94],"that":[95,109],"UUB":[96],"uncertainties":[105],"guaranteed,":[107],"provided":[108],"gains":[115],"are":[116,124],"tuned":[117],"to":[118,126],"satisfy":[119],"certain":[120],"conditions.":[121],"Experimental":[122],"studies":[123],"forwarded":[125],"verify":[127],"effectiveness":[129],"performance":[132],"proposed":[135]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
