{"id":"https://openalex.org/W1542294351","doi":"https://doi.org/10.1109/cca.2005.1507326","title":"Nonlinear H//sub&amp;#x221E;/ controller design for flexible joint robots","display_name":"Nonlinear H//sub&amp;#x221E;/ controller design for flexible joint robots","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W1542294351","doi":"https://doi.org/10.1109/cca.2005.1507326","mag":"1542294351"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507326","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/I4210157180","display_name":"Arak University of Technology","ror":"https://ror.org/053wftt74","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210157180"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hamid D. Taghirad","raw_affiliation_strings":["Electrical Engineering Department, Advanced Robotics and Automated System (ARAS), University of Technology (TU), Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Advanced Robotics and Automated System (ARAS), University of Technology (TU), Tehran, Iran","institution_ids":["https://openalex.org/I4210157180"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004595479","display_name":"Mostafa Shaterian","orcid":"https://orcid.org/0000-0002-0311-7410"},"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"]},{"id":"https://openalex.org/I4210157180","display_name":"Arak University of Technology","ror":"https://ror.org/053wftt74","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210157180"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. Shaterian","raw_affiliation_strings":["Electrical Engineering Department, Advanced Robotics and Automated System (ARAS), University of Technology (TU), Tehran, Iran","Dept. of Electr. Eng., KN Toosi Univ. of Technol., Tehran"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Advanced Robotics and Automated System (ARAS), University of Technology (TU), Tehran, Iran","institution_ids":["https://openalex.org/I4210157180"]},{"raw_affiliation_string":"Dept. of Electr. Eng., KN 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/I4210157180"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.04470573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"1391","last_page":"1396"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"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":0.9959999918937683,"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":0.9908999800682068,"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":0.9472000002861023,"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/controller","display_name":"Controller (irrigation)","score":0.7269555926322937},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6503055095672607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6148132681846619},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5175806283950806},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4479755461215973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4465552866458893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43194451928138733},{"id":"https://openalex.org/keywords/taylor-series","display_name":"Taylor series","score":0.42087388038635254},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.41147756576538086},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3759695589542389},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2759246826171875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2048414945602417},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08687686920166016},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06719928979873657}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7269555926322937},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6503055095672607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6148132681846619},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5175806283950806},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4479755461215973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4465552866458893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43194451928138733},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.42087388038635254},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.41147756576538086},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3759695589542389},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2759246826171875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2048414945602417},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08687686920166016},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06719928979873657},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2005.1507326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507326","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":0.699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W117774374","https://openalex.org/W1500230604","https://openalex.org/W1569878741","https://openalex.org/W1995090200","https://openalex.org/W2016088733","https://openalex.org/W2109640889","https://openalex.org/W2123852447","https://openalex.org/W2124742444","https://openalex.org/W2144355672","https://openalex.org/W2166505268","https://openalex.org/W2166517568","https://openalex.org/W4214690803"],"related_works":["https://openalex.org/W2395105737","https://openalex.org/W2369507325","https://openalex.org/W3208270790","https://openalex.org/W3135719690","https://openalex.org/W2368550193","https://openalex.org/W1985023705","https://openalex.org/W2061027733","https://openalex.org/W2387252559","https://openalex.org/W2218699221","https://openalex.org/W4285133152"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"the":[3,31,54,72,94,121],"design":[4],"of":[5,39,105,120],"a":[6,75],"nonlinear":[7,40,65],"H":[8,41,66],"<sub":[9,42,67],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[10,43,68],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">infin</sub>":[11,44,69],"controller":[12,37,45,49,70,96],"for":[13,30,86],"flexible":[14],"joint":[15,90],"robot":[16],"(FJR)":[17],"is":[18,28,50],"presented.":[19],"An":[20],"approximate":[21],"solution":[22],"based":[23],"on":[24],"Taylor":[25],"series":[26],"expansion":[27],"considered":[29],"Hamilton-Jacobi-Isaac":[32],"(HJI)":[33],"inequality.":[34],"A":[35],"two-degree-of-freedom":[36],"combined":[38],"and":[46,88,107],"inverse":[47],"dynamics":[48],"proposed":[51,64,95],"to":[52,98,118],"tackle":[53],"regulation":[55],"as":[56,58,102,111,113],"well":[57,112],"tracking":[59,115],"problem":[60],"in":[61],"FJR.":[62],"The":[63],"attenuates":[71],"disturbance":[73],"with":[74],"minimum":[76],"achievable":[77],"control":[78,109],"effort,":[79],"despite":[80],"system":[81],"parameter":[82],"uncertainty.":[83],"Simulation":[84],"comparisons":[85],"single":[87],"multiple":[89],"manipulators,":[91],"show":[92],"that":[93,119],"yields":[97],"superior":[99],"performance":[100],"such":[101],"larger":[103],"domain":[104],"attraction":[106],"smaller":[108],"effort":[110],"better":[114],"characteristics,":[116],"compared":[117],"other":[122],"methods":[123]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
