{"id":"https://openalex.org/W2528253852","doi":"https://doi.org/10.1109/cca.2016.7587927","title":"Finite-time PD control of robot manipulators with adaptive gravity compensation","display_name":"Finite-time PD control of robot manipulators with adaptive gravity compensation","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2528253852","doi":"https://doi.org/10.1109/cca.2016.7587927","mag":"2528253852"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2016.7587927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","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/A5040519090","display_name":"Juro Fujishiro","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Juro Fujishiro","raw_affiliation_strings":["Ritsumeikan University, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024890797","display_name":"Yoshiro Fukui","orcid":"https://orcid.org/0000-0002-2704-798X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiro Fukui","raw_affiliation_strings":["Ritsumeikan University, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085209922","display_name":"Takahiro Wada","orcid":"https://orcid.org/0000-0002-4518-8903"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Wada","raw_affiliation_strings":["Ritsumeikan University, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040519090"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":1.0712,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79726164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"898","last_page":"904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9699000120162964,"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":0.9664999842643738,"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":0.7962391376495361},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7255635261535645},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6984559893608093},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6617372035980225},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6514042615890503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5623900890350342},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.555215060710907},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5467239618301392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4713019132614136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36551883816719055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13738229870796204},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.048386603593826294}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7962391376495361},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7255635261535645},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6984559893608093},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6617372035980225},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6514042615890503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5623900890350342},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.555215060710907},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5467239618301392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4713019132614136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36551883816719055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13738229870796204},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.048386603593826294},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2016.7587927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1514656020","https://openalex.org/W1552510372","https://openalex.org/W1969388428","https://openalex.org/W1979870181","https://openalex.org/W1988837728","https://openalex.org/W2047340799","https://openalex.org/W2059179357","https://openalex.org/W2168158714","https://openalex.org/W2290113705","https://openalex.org/W6630742710","https://openalex.org/W6633015934"],"related_works":["https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W2344226335","https://openalex.org/W2139526495","https://openalex.org/W2055801945","https://openalex.org/W2148178391","https://openalex.org/W2146430632"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,11,60],"new":[3],"PD":[4,32],"control":[5,18,24,33],"using":[6],"adaptive":[7,35],"gravity":[8,36],"compensation":[9,37],"with":[10,34,59],"finite-time":[12,49],"convergence":[13,70],"rate":[14,71],"for":[15,38],"the":[16,29,45,52,65,75],"position":[17,47],"problem":[19],"in":[20],"robot":[21,39],"manipulators.":[22,40],"The":[23],"is":[25,48,54],"an":[26],"extension":[27],"of":[28],"conventional":[30,76],"linear":[31],"Theoretical":[41],"analysis":[42],"showed":[43,63],"that":[44,64],"desired":[46],"stable":[50],"when":[51],"origin":[53],"locally":[55],"asymptotically":[56],"stable.":[57],"Simulations":[58],"two-link":[61],"manipulator":[62],"proposed":[66],"method":[67],"achieves":[68],"higher":[69],"and":[72],"accuracy":[73],"than":[74],"method.":[77]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
