{"id":"https://openalex.org/W2084621147","doi":"https://doi.org/10.1109/cdc.2012.6426510","title":"High precision control of robot manipulators via finite-time P-PI control","display_name":"High precision control of robot manipulators via finite-time P-PI control","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2084621147","doi":"https://doi.org/10.1109/cdc.2012.6426510","mag":"2084621147"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6426510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5081409402","display_name":"Hisakazu Nakamura","orcid":"https://orcid.org/0000-0002-7683-8761"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisakazu Nakamura","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Noda, Chiba, Japan","Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Yamazaki 2641, Noda, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Noda, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Yamazaki 2641, Noda, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050477597","display_name":"Naoki Nishida","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Nishida","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, Takayama 8916-5, Ikoma, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Takayama 8916-5, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113909847","display_name":"Nami Nakamura","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nami Nakamura","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Noda, Chiba, Japan","Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Yamazaki 2641, Noda, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Noda, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Yamazaki 2641, Noda, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6411,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82313955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"550","last_page":"555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9983999729156494,"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":0.9980000257492065,"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/control-theory","display_name":"Control theory (sociology)","score":0.849364161491394},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7283555865287781},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5966665744781494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5533226132392883},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.501530647277832},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4972842037677765},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.46869850158691406},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4538014531135559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4380091726779938},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4211370348930359},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41877561807632446},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3171824812889099},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25330665707588196},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1663990020751953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11977273225784302},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.11112874746322632}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.849364161491394},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7283555865287781},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5966665744781494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5533226132392883},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.501530647277832},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4972842037677765},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.46869850158691406},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4538014531135559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4380091726779938},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4211370348930359},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41877561807632446},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3171824812889099},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25330665707588196},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1663990020751953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11977273225784302},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.11112874746322632},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2012.6426510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1552510372","https://openalex.org/W1969388428","https://openalex.org/W2168158714","https://openalex.org/W2323447981","https://openalex.org/W4205362845","https://openalex.org/W4293738473","https://openalex.org/W6642607366"],"related_works":["https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W4242231179","https://openalex.org/W3016367173","https://openalex.org/W3135439126","https://openalex.org/W3040474838","https://openalex.org/W2483758673","https://openalex.org/W628231512","https://openalex.org/W2591779012","https://openalex.org/W2052839393"],"abstract_inverted_index":{"High":[0],"precision":[1],"position":[2,40,55],"control":[3,12,27],"of":[4,28,67],"robot":[5,29],"manipulators":[6],"is":[7,56],"a":[8,19,34,57],"fundamental":[9],"and":[10,31],"important":[11],"problem.":[13],"In":[14],"this":[15],"paper,":[16],"we":[17,43,63],"propose":[18,33],"homogeneous":[20],"finite-time":[21,35,50],"P-PI":[22,36],"controller":[23,37],"for":[24,38],"joint":[25],"angle":[26],"manipulators,":[30],"then":[32],"end-effector":[39],"control.":[41],"Further,":[42],"prove":[44],"that":[45],"the":[46,53,65,68],"proposed":[47,69],"controllers":[48],"guarantee":[49],"stability":[51],"if":[52],"desired":[54],"locally":[58],"asymptotically":[59],"stable":[60],"equilibrium.":[61],"Finally,":[62],"confirm":[64],"effectiveness":[66],"method":[70],"by":[71],"experiments.":[72]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
