{"id":"https://openalex.org/W2529204831","doi":"https://doi.org/10.1109/cca.2016.7587969","title":"Impedance control based on a multi-time-scale approach: Extended High-Gain Observers and dynamic inversion","display_name":"Impedance control based on a multi-time-scale approach: Extended High-Gain Observers and dynamic inversion","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2529204831","doi":"https://doi.org/10.1109/cca.2016.7587969","mag":"2529204831"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2016.7587969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587969","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/A5100755252","display_name":"Joonho Lee","orcid":"https://orcid.org/0000-0002-9464-6480"},"institutions":[{"id":"https://openalex.org/I200576644","display_name":"HRL Laboratories (United States)","ror":"https://ror.org/05p7te762","country_code":"US","type":"company","lineage":["https://openalex.org/I200576644"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joonho Lee","raw_affiliation_strings":["LLC, HRL Laboratories, CA, USA"],"affiliations":[{"raw_affiliation_string":"LLC, HRL Laboratories, CA, USA","institution_ids":["https://openalex.org/I200576644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051347846","display_name":"Hanz Richter","orcid":"https://orcid.org/0000-0001-6079-3186"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanz Richter","raw_affiliation_strings":["Department of Mechanical Engineering, 2121 Euclid Ave Cleveland State University, Cleveland, OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, 2121 Euclid Ave Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100755252"],"corresponding_institution_ids":["https://openalex.org/I200576644"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11256878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"1197","last_page":"1202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.984499990940094,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9812999963760376,"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":0.740618109703064},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.6406568884849548},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6055910587310791},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5769798755645752},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5622962117195129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5362260937690735},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5077322721481323},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.42355138063430786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23507270216941833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2346997857093811},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20588979125022888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09324902296066284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06897589564323425}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.740618109703064},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.6406568884849548},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6055910587310791},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5769798755645752},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5622962117195129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5362260937690735},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5077322721481323},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.42355138063430786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23507270216941833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2346997857093811},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20588979125022888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09324902296066284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06897589564323425},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2016.7587969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587969","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/F4320309105","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1509235676","https://openalex.org/W1515224583","https://openalex.org/W1535006160","https://openalex.org/W1554473947","https://openalex.org/W1967377907","https://openalex.org/W2062691475","https://openalex.org/W2077210076","https://openalex.org/W2094463511","https://openalex.org/W2103341942","https://openalex.org/W2117834469","https://openalex.org/W2126034408","https://openalex.org/W2144294016","https://openalex.org/W2145098376","https://openalex.org/W2164450398","https://openalex.org/W2178332255","https://openalex.org/W2274014196","https://openalex.org/W2740104662","https://openalex.org/W4285719527","https://openalex.org/W6630702416","https://openalex.org/W6632003261","https://openalex.org/W6665960101"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W4327639758","https://openalex.org/W1998082046","https://openalex.org/W2154304710","https://openalex.org/W2019676381","https://openalex.org/W1982149897","https://openalex.org/W2387468633","https://openalex.org/W2006371715","https://openalex.org/W2713536231"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,7],"new":[3],"impedance":[4,65],"controller":[5],"using":[6],"multi-time-scale":[8],"structure.":[9],"Extended":[10],"High-Gain":[11],"Observers":[12],"in":[13,27,31],"the":[14,32,57,63,73,77],"fastest":[15,34],"time":[16,35],"scale":[17,36],"are":[18],"used":[19],"to":[20,39],"estimate":[21],"unmeasured":[22],"system":[23,79],"states":[24],"and":[25],"uncertainties":[26],"systems.":[28],"Dynamic":[29],"inversion":[30],"second":[33],"is":[37,54,67,81,87],"employed":[38],"deal":[40],"with":[41],"uncertain":[42],"input":[43],"coefficients.":[44],"An":[45],"implicit":[46],"tracking":[47],"for":[48],"joint-space":[49],"control":[50,66,70,85],"of":[51,62],"workspace":[52],"trajectories":[53],"realized":[55],"through":[56,89],"dynamic":[58],"inversion.":[59],"The":[60,83],"performance":[61],"proposed":[64,84],"quantified":[68],"by":[69],"parameters.":[71],"Using":[72],"singular":[74],"perturbation":[75],"method,":[76],"closed-loop":[78],"stability":[80],"analyzed.":[82],"method":[86],"verified":[88],"numerical":[90],"simulation.":[91]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}