{"id":"https://openalex.org/W2166792894","doi":"https://doi.org/10.1109/cdc.2007.4434037","title":"Adaptive compensation of modeled friction using a RBF neural network approximation","display_name":"Adaptive compensation of modeled friction using a RBF neural network approximation","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2166792894","doi":"https://doi.org/10.1109/cdc.2007.4434037","mag":"2166792894"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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/A5037213567","display_name":"Valentina Vitiello","orcid":"https://orcid.org/0000-0002-1724-6264"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Valentina Vitiello","raw_affiliation_strings":["Dipartimento di Informatica, Sistemi e Produzione, Universit\u00e0 di Roma Tor Vergata, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica, Sistemi e Produzione, Universit\u00e0 di Roma Tor Vergata, Roma, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043108758","display_name":"Antonio Tornamb\u00e8","orcid":"https://orcid.org/0000-0001-9989-2843"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Tornambe","raw_affiliation_strings":["Dipartimento di Informatica, Sistemi e Produzione, Universit\u00e0 di Roma Tor Vergata, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica, Sistemi e Produzione, Universit\u00e0 di Roma Tor Vergata, Roma, Italy","institution_ids":["https://openalex.org/I116067653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037213567"],"corresponding_institution_ids":["https://openalex.org/I116067653"],"apc_list":null,"apc_paid":null,"fwci":2.0371,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87620096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4699","last_page":"4704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9979000091552734,"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/stiction","display_name":"Stiction","score":0.8621773719787598},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8245804309844971},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5573465824127197},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.49612244963645935},{"id":"https://openalex.org/keywords/lemma","display_name":"Lemma (botany)","score":0.4754347801208496},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.47194617986679077},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.44965410232543945},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.41439586877822876},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39476361870765686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37017005681991577},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22794228792190552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22604802250862122},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1704440712928772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12875699996948242},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12382274866104126}],"concepts":[{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.8621773719787598},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8245804309844971},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5573465824127197},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.49612244963645935},{"id":"https://openalex.org/C2777759810","wikidata":"https://www.wikidata.org/wiki/Q149316","display_name":"Lemma (botany)","level":3,"score":0.4754347801208496},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.47194617986679077},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.44965410232543945},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.41439586877822876},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39476361870765686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37017005681991577},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22794228792190552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22604802250862122},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1704440712928772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12875699996948242},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12382274866104126},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C46757340","wikidata":"https://www.wikidata.org/wiki/Q43238","display_name":"Poaceae","level":2,"score":0.0},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2007.4434037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:art.torvergata.it:2108/7885","is_oa":false,"landing_page_url":"http://hdl.handle.net/2108/7885","pdf_url":null,"source":{"id":"https://openalex.org/S4306400993","display_name":"Cineca Institutional Research Information System (Tor Vergata University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I116067653","host_organization_name":"University of Rome Tor Vergata","host_organization_lineage":["https://openalex.org/I116067653"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1687463254","https://openalex.org/W1867591870","https://openalex.org/W1906298797","https://openalex.org/W1907961603","https://openalex.org/W2010452329","https://openalex.org/W2045273384","https://openalex.org/W2068793240","https://openalex.org/W2084122929","https://openalex.org/W2122724160","https://openalex.org/W2123326701","https://openalex.org/W2130895686","https://openalex.org/W2146278934","https://openalex.org/W2148136480","https://openalex.org/W2157285523","https://openalex.org/W2160240392","https://openalex.org/W2165691287","https://openalex.org/W2166271005","https://openalex.org/W2169025967","https://openalex.org/W2172270388","https://openalex.org/W2302808317","https://openalex.org/W2522700608"],"related_works":["https://openalex.org/W2344555939","https://openalex.org/W2328303680","https://openalex.org/W2625047220","https://openalex.org/W1969392085","https://openalex.org/W2064815992","https://openalex.org/W2947832509","https://openalex.org/W2522689825","https://openalex.org/W2098492460","https://openalex.org/W2139551654","https://openalex.org/W4235718155"],"abstract_inverted_index":{"We":[0,78],"present":[1,109],"a":[2,6,30,43,81],"compensation":[3],"technique":[4],"for":[5,68,112],"friction":[7,12,40,57],"model,":[8],"which":[9],"captures":[10],"problematic":[11],"effects":[13,53],"such":[14],"as":[15],"Stribeck":[16],"effect,":[17],"hysteresis,":[18],"pre-sliding":[19],"displacement,":[20],"stick-":[21],"slip":[22],"motion":[23],"and":[24,34],"stiction.":[25],"The":[26,59],"proposed":[27,114],"control":[28,32,115],"utilizes":[29],"PD":[31],"structure":[33],"an":[35],"adaptive":[36,72],"estimate":[37],"of":[38,54,62,95,97],"the":[39,52,55,69,88,93,105,113],"force.":[41],"Specifically,":[42],"radial":[44],"basis":[45],"function":[46],"(RBF)":[47],"is":[48,66,99],"used":[49],"to":[50,86,103],"compensate":[51],"non-linear":[56],"model.":[58],"asymptotic":[60],"convergence":[61],"parameter":[63,82,89],"estimation":[64,83],"errors":[65],"achieved":[67],"system":[70],"in":[71],"observer":[73],"form":[74],"using":[75],"Barbalat's":[76],"Lemma.":[77],"also":[79],"introduce":[80],"projection":[84],"algorithm":[85],"avoid":[87],"estimates":[90],"drift":[91],"when":[92],"condition":[94],"persistency":[96],"excitation":[98],"not":[100],"verified.":[101],"Finally,":[102],"support":[104],"theoretical":[106],"concepts,":[107],"we":[108],"dynamic":[110],"simulations":[111],"scheme.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}