{"id":"https://openalex.org/W1508990295","doi":"https://doi.org/10.1109/cdc.2003.1272321","title":"Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra","display_name":"Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra","publication_year":2004,"publication_date":"2004-06-03","ids":{"openalex":"https://openalex.org/W1508990295","doi":"https://doi.org/10.1109/cdc.2003.1272321","mag":"1508990295"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2003.1272321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","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/A5065181600","display_name":"Evren G\u00fcrkan-\u00c7avusoglu","orcid":"https://orcid.org/0000-0002-9626-0848"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"E. Gurkan","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108261155","display_name":"S.P. Banks","orcid":null},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S.P. Banks","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, England","University of  Sheffield"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, England","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"University of  Sheffield","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010484989","display_name":"Aydan M. Erkmen","orcid":"https://orcid.org/0000-0002-5194-1121"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]},{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB","TR"],"is_corresponding":false,"raw_author_name":"I. Erkmen","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, England","Middle East Technical Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, England","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"Middle East Technical Univ","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4626,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73764184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"4717","last_page":"4722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9937000274658203,"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":0.9882000088691711,"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/robotic-arm","display_name":"Robotic arm","score":0.614772617816925},{"id":"https://openalex.org/keywords/lie-algebra","display_name":"Lie algebra","score":0.6131123304367065},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5801562070846558},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5765659213066101},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.5654372572898865},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5098944902420044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4641718864440918},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44024035334587097},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3685208857059479},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3642343282699585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2970607280731201},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.20470017194747925},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19601187109947205},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14764684438705444},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08065095543861389}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.614772617816925},{"id":"https://openalex.org/C51568863","wikidata":"https://www.wikidata.org/wiki/Q664495","display_name":"Lie algebra","level":2,"score":0.6131123304367065},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5801562070846558},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5765659213066101},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.5654372572898865},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5098944902420044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4641718864440918},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44024035334587097},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3685208857059479},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3642343282699585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2970607280731201},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.20470017194747925},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19601187109947205},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14764684438705444},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08065095543861389},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":2,"locations":[{"id":"doi:10.1109/cdc.2003.1272321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/38735","is_oa":false,"landing_page_url":"https://hdl.handle.net/11511/38735","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1842353205","https://openalex.org/W1966155599","https://openalex.org/W1987247229","https://openalex.org/W1989555277","https://openalex.org/W2005761103","https://openalex.org/W2008550148","https://openalex.org/W2009178724","https://openalex.org/W2015553646","https://openalex.org/W2028337110","https://openalex.org/W2033963830","https://openalex.org/W2036652665","https://openalex.org/W2050229045","https://openalex.org/W2068052921","https://openalex.org/W2135471914","https://openalex.org/W2139133559","https://openalex.org/W2156211107"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W1992538606","https://openalex.org/W2746642893","https://openalex.org/W4313255720","https://openalex.org/W2921933148","https://openalex.org/W4381737315","https://openalex.org/W4376460605","https://openalex.org/W2276570675","https://openalex.org/W2548273422","https://openalex.org/W3034881631"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"develop":[4],"a":[5,39,50],"novel":[6],"approach":[7,47],"for":[8],"the":[9,16,21,26,34,64],"stability":[10,57],"of":[11,38],"T-S":[12,27,35],"fuzzy":[13,36],"systems":[14],"using":[15],"Lie":[17,54],"algebra":[18,55],"generated":[19],"by":[20],"linear":[22],"subsystems":[23],"used":[24],"in":[25],"model.":[28],"The":[29],"theory":[30],"is":[31],"illustrated":[32],"on":[33,63],"model":[37],"flexible":[40],"joint":[41],"robot":[42],"arm.":[43],"We":[44],"use":[45],"our":[46,53],"to":[48],"design":[49],"controller":[51],"satisfying":[52],"based":[56],"criteria":[58],"and":[59],"demonstrate":[60],"its":[61],"performance":[62],"robotic":[65],"system.":[66]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
