{"id":"https://openalex.org/W2096711340","doi":"https://doi.org/10.1109/cdc.2005.1582250","title":"Optimal Nonlinear Control of Two-Link Flexible Arm with Adaptive Internal Model","display_name":"Optimal Nonlinear Control of Two-Link Flexible Arm with Adaptive Internal Model","publication_year":2006,"publication_date":"2006-10-04","ids":{"openalex":"https://openalex.org/W2096711340","doi":"https://doi.org/10.1109/cdc.2005.1582250","mag":"2096711340"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1582250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11729/2024","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087980495","display_name":"Mustafa Do\u011fan","orcid":"https://orcid.org/0000-0001-5215-8887"},"institutions":[{"id":"https://openalex.org/I188740104","display_name":"Ba\u015fkent University","ror":"https://ror.org/02v9bqx10","country_code":"TR","type":"education","lineage":["https://openalex.org/I188740104"]},{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Dogan","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Baskent University, Turkey","Department of Electrical and Electronics Engineering, Bogazi\u00e7i University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Baskent University, Turkey","institution_ids":["https://openalex.org/I188740104"]},{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Bogazi\u00e7i University, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006297600","display_name":"Y. \u0130stefanopulos","orcid":null},"institutions":[{"id":"https://openalex.org/I167234411","display_name":"I\u015f\u0131k University","ror":"https://ror.org/02j8k6t75","country_code":"TR","type":"education","lineage":["https://openalex.org/I167234411"]},{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Y. Istefanopulos","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Bogazi\u00e7i University, Turkey","Department of Electrical and Electronics Engineering, Isik University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Bogazi\u00e7i University, Turkey","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Isik University, Turkey","institution_ids":["https://openalex.org/I167234411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9112,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79950726,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"771","last_page":"776"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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":0.998199999332428,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9980000257492065,"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/payload","display_name":"Payload (computing)","score":0.8395099639892578},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7780932188034058},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.7501592040061951},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6921709179878235},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.6889879107475281},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5907881855964661},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5748663544654846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5251842737197876},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5031518340110779},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4511326253414154},{"id":"https://openalex.org/keywords/stabilizer","display_name":"Stabilizer (aeronautics)","score":0.44552528858184814},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43580350279808044},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41072607040405273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39599311351776123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3280676007270813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25132960081100464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1727827489376068},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10269248485565186}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8395099639892578},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7780932188034058},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.7501592040061951},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6921709179878235},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.6889879107475281},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5907881855964661},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5748663544654846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5251842737197876},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5031518340110779},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4511326253414154},{"id":"https://openalex.org/C2777502316","wikidata":"https://www.wikidata.org/wiki/Q2712515","display_name":"Stabilizer (aeronautics)","level":2,"score":0.44552528858184814},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43580350279808044},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41072607040405273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39599311351776123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3280676007270813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25132960081100464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1727827489376068},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10269248485565186},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2005.1582250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:acikerisim.isikun.edu.tr:11729/2024","is_oa":true,"landing_page_url":"https://hdl.handle.net/11729/2024","pdf_url":null,"source":{"id":"https://openalex.org/S4306401174","display_name":"Akademik A\u00e7\u0131k Eri\u015fim (I\u015f\u0131k \u00dcniversitesi)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I167234411","host_organization_name":"I\u015f\u0131k University","host_organization_lineage":["https://openalex.org/I167234411"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Object"}],"best_oa_location":{"id":"pmh:oai:acikerisim.isikun.edu.tr:11729/2024","is_oa":true,"landing_page_url":"https://hdl.handle.net/11729/2024","pdf_url":null,"source":{"id":"https://openalex.org/S4306401174","display_name":"Akademik A\u00e7\u0131k Eri\u015fim (I\u015f\u0131k \u00dcniversitesi)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I167234411","host_organization_name":"I\u015f\u0131k University","host_organization_lineage":["https://openalex.org/I167234411"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Object"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W123769205","https://openalex.org/W655748913","https://openalex.org/W1487112583","https://openalex.org/W1567484541","https://openalex.org/W1904107231","https://openalex.org/W1973927066","https://openalex.org/W1984762043","https://openalex.org/W1991055075","https://openalex.org/W2026209759","https://openalex.org/W2031030263","https://openalex.org/W2037077804","https://openalex.org/W2093385055","https://openalex.org/W2106743426","https://openalex.org/W2140342793","https://openalex.org/W2162996718","https://openalex.org/W2163245660","https://openalex.org/W2167421436","https://openalex.org/W2562166486","https://openalex.org/W3160954918","https://openalex.org/W4205940976","https://openalex.org/W4246726497","https://openalex.org/W4292872153","https://openalex.org/W6684559480"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2020929948","https://openalex.org/W2384943760","https://openalex.org/W4294672999","https://openalex.org/W840970445","https://openalex.org/W2613712992"],"abstract_inverted_index":{"The":[0,53],"control":[1,24],"of":[2,25,56],"highly":[3],"nonlinear":[4],"multi-link":[5,26],"fleible":[6],"arms":[7,28],"is":[8,29,41,60],"subject":[9],"to":[10],"uncertainties":[11],"caused":[12],"by":[13],"backlash,":[14],"payload":[15],"changes":[16],"and":[17,22],"external":[18],"disturbances.":[19],"Therefore,":[20],"adaptive":[21],"robust":[23,51],"flexible":[27],"a":[30,50,63],"challeng-":[31],"ing":[32],"problem.":[33],"In":[34],"this":[35],"paper,":[36],"the":[37,57],"internal":[38],"model":[39],"approach":[40],"adaptively":[42],"tuned":[43],"up":[44],"for":[45],"unknown":[46],"disturbances,":[47],"parallel":[48],"with":[49,62],"stabilizer.":[52],"stabilizer":[54],"part":[55],"con-":[58],"troller":[59],"optimized":[61],"new":[64],"evolutionary":[65],"algorithm.":[66]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}