{"id":"https://openalex.org/W4210351657","doi":"https://doi.org/10.1109/cdc45484.2021.9683469","title":"Semiglobal asymptotic stability of nonlinear PD-type plus gravity compensation controllers for input-saturated robot manipulators","display_name":"Semiglobal asymptotic stability of nonlinear PD-type plus gravity compensation controllers for input-saturated robot manipulators","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210351657","doi":"https://doi.org/10.1109/cdc45484.2021.9683469"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683469","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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/A5029638486","display_name":"Marco Jim\u00e9nez-Quiroz","orcid":"https://orcid.org/0000-0002-6861-0783"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Jimenez-Quiroz","raw_affiliation_strings":["Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019500883","display_name":"Jer\u00f3nimo Moyr\u00f3n","orcid":"https://orcid.org/0000-0002-3688-5969"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeronimo Moyron","raw_affiliation_strings":["Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Politécnico Nacional–CITEDI,Tijuana,Baja California,México,22435","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25923617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"41","issue":null,"first_page":"1432","last_page":"1437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12772","display_name":"Control and Stability of Dynamical 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":0.991599977016449,"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":0.8044396638870239},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6842815279960632},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.6467114686965942},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6230295300483704},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5512630343437195},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5321853160858154},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.4908958077430725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4474046528339386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20115333795547485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15168625116348267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1384049952030182},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08093717694282532}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8044396638870239},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6842815279960632},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.6467114686965942},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6230295300483704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5512630343437195},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5321853160858154},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.4908958077430725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4474046528339386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20115333795547485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15168625116348267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1384049952030182},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08093717694282532},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683469","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1897300813","https://openalex.org/W1965245961","https://openalex.org/W1968555968","https://openalex.org/W1980246867","https://openalex.org/W2000361582","https://openalex.org/W2018558951","https://openalex.org/W2048184451","https://openalex.org/W2138605596","https://openalex.org/W2141781870","https://openalex.org/W2148416566","https://openalex.org/W2510397680","https://openalex.org/W2576842360","https://openalex.org/W2743575205","https://openalex.org/W4205362845","https://openalex.org/W4210939600"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W2365687337","https://openalex.org/W1593898832","https://openalex.org/W2358180351","https://openalex.org/W2392368077","https://openalex.org/W2365082216","https://openalex.org/W2756324413","https://openalex.org/W2142048021","https://openalex.org/W2388018705","https://openalex.org/W2362703586"],"abstract_inverted_index":{"In":[0],"this":[1,91],"paper,":[2],"the":[3,29,45,52,57,73,84,98,103,127],"stability":[4,111],"of":[5,14,38,44,60,72,75,79,83,105],"PD-type":[6,61],"controllers":[7,62],"plus":[8,63],"gravity":[9,64],"compensation":[10,65],"for":[11,56],"position":[12],"regulation":[13],"input-saturated":[15],"robot":[16],"manipulators":[17],"is":[18,49,66,87,112,121],"discussed,":[19],"where":[20,123],"symmetrical":[21],"hard":[22],"saturation":[23],"functions":[24],"are":[25],"employed":[26],"to":[27],"model":[28],"input":[30,106],"constraints.":[31],"Based":[32],"on":[33],"Lyapunov\u2019s":[34],"theory,":[35],"a":[36,41,80,118],"change":[37],"variable":[39],"and":[40],"proper":[42],"representation":[43],"control":[46],"input,":[47],"it":[48],"shown":[50],"that":[51,90],"closed\u2013loop":[53],"equilibrium":[54],"point":[55],"studied":[58],"class":[59],"asymptotically":[67],"stable.":[68],"Furthermore,":[69],"an":[70],"estimate":[71],"region":[74,92],"attraction":[76],"by":[77,97],"means":[78],"level":[81],"set":[82],"Lyapunov":[85],"function":[86],"given,":[88],"showing":[89],"can":[93],"arbitrarily":[94],"be":[95],"enlarged":[96],"controller":[99],"gains,":[100],"even":[101],"in":[102],"presence":[104],"saturation.":[107],"Thus,":[108],"semiglobal":[109],"asymptotic":[110],"achieved.":[113],"A":[114],"case":[115],"study":[116],"using":[117],"crank-slider":[119],"mechanism":[120],"included":[122],"simulation":[124],"results":[125],"illustrate":[126],"concepts":[128],"developed.":[129]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}