{"id":"https://openalex.org/W2106430162","doi":"https://doi.org/10.1109/cca.2008.4629590","title":"An adaptive H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; control for robotic manipulators with input torque uncertainties and its experimental evaluations","display_name":"An adaptive H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; control for robotic manipulators with input torque uncertainties and its experimental evaluations","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2106430162","doi":"https://doi.org/10.1109/cca.2008.4629590","mag":"2106430162"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2008.4629590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2008.4629590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Control Applications","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/A5102390193","display_name":"Kazuya Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazuya Sato","raw_affiliation_strings":["Graduate School of Engineering, Saga University, Saga, Japan","Grad. Sch. of Eng., Saga Univ., Saga"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Saga University, Saga, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Saga Univ., Saga","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109529426","display_name":"Hiroshi MUKAI","orcid":null},"institutions":[{"id":"https://openalex.org/I199028557","display_name":"Kyushu Sangyo University","ror":"https://ror.org/01wqrpc44","country_code":"JP","type":"education","lineage":["https://openalex.org/I199028557"]},{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Mukai","raw_affiliation_strings":["Department of Biorobotics, Fact. of Engineering, Kyushu Sangyo University, Fukuoka, Japan","Grad. Sch. of Eng., Saga Univ., Saga"],"affiliations":[{"raw_affiliation_string":"Department of Biorobotics, Fact. of Engineering, Kyushu Sangyo University, Fukuoka, Japan","institution_ids":["https://openalex.org/I199028557"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Saga Univ., Saga","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112343856","display_name":"Kazuhiro Tsuruta","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]},{"id":"https://openalex.org/I199028557","display_name":"Kyushu Sangyo University","ror":"https://ror.org/01wqrpc44","country_code":"JP","type":"education","lineage":["https://openalex.org/I199028557"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Tsuruta","raw_affiliation_strings":["Graduate School of Engineering, Saga University, Saga, Japan","Dept. of Biorobotics, Fact. of Eng., Kyushu, Sangyo Univ., 2-3-1 Matsukadai, Higashi-ku, Fukuoka, JAPAN"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Saga University, Saga, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Dept. of Biorobotics, Fact. of Eng., Kyushu, Sangyo Univ., 2-3-1 Matsukadai, Higashi-ku, Fukuoka, JAPAN","institution_ids":["https://openalex.org/I199028557"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102390193"],"corresponding_institution_ids":["https://openalex.org/I177136067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09194293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"1226","last_page":"1231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9980999827384949,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9976000189781189,"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":0.7690895795822144},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.70006263256073},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.628602921962738},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4912106394767761},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4762806296348572},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4694157540798187},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4631933569908142},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4482210576534271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4361686408519745},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40368348360061646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32966965436935425},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2320537567138672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2251414656639099},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06836295127868652}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7690895795822144},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.70006263256073},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.628602921962738},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4912106394767761},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4762806296348572},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4694157540798187},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4631933569908142},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4482210576534271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4361686408519745},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40368348360061646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32966965436935425},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2320537567138672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2251414656639099},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06836295127868652},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2008.4629590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2008.4629590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Control Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W1537653646","https://openalex.org/W1981174120","https://openalex.org/W1984598383","https://openalex.org/W2009600600","https://openalex.org/W2073070812","https://openalex.org/W2099197607","https://openalex.org/W2099529764","https://openalex.org/W2122739526","https://openalex.org/W2122995702","https://openalex.org/W2158036483","https://openalex.org/W2169932488","https://openalex.org/W2317915069","https://openalex.org/W3030532883"],"related_works":["https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W1606553367","https://openalex.org/W2055801945","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W2344226335","https://openalex.org/W2139526495","https://openalex.org/W2080408381","https://openalex.org/W2148178391"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4,98],"control":[5,90,103],"method":[6,53,65],"for":[7,43],"robotic":[8],"manipulators":[9],"with":[10],"input":[11,24,44,72],"toque":[12],"uncertainties.":[13],"For":[14],"each":[15],"link":[16],"of":[17,79,85,94,124],"manipulators,":[18],"it":[19],"is":[20],"assumed":[21],"that":[22,55],"the":[23,41,56,70,83,96,105,111,122],"torque":[25,45,73],"uncertainties":[26,46],"can":[27,66,107],"be":[28],"divided":[29],"into":[30],"unknown":[31,57,80],"parameters":[32,42,58,81],"term":[33],"and":[34,47,115],"bounded":[35],"disturbance":[36],"term.":[37],"In":[38,92],"addition,":[39],"all":[40],"robot":[48],"are":[49,59,118],"unknown.":[50],"The":[51],"proposed":[52,64,126],"ensures":[54],"estimated":[60],"adaptively.":[61],"Moreover,":[62],"our":[63,125],"attenuate":[67],"not":[68],"only":[69],"external":[71],"disturbances":[74],"but":[75],"also":[76],"estimation":[77],"errors":[78],"in":[82],"notion":[84],"H":[86,99],"<inf":[87,100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[88,101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</inf>":[89,102],"performance.":[91],"spite":[93],"considering":[95],"nonlinear":[97],"problems,":[104],"compensator":[106],"design":[108],"without":[109],"solving":[110],"Hamilton-Jacobi-Isaacs":[112],"equation.":[113],"Simulation":[114],"experimental":[116],"results":[117],"given":[119],"to":[120],"illustrate":[121],"effectiveness":[123],"method.":[127]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
