{"id":"https://openalex.org/W4297830967","doi":"https://doi.org/10.1109/cdc51059.2022.9992641","title":"An Analysis of Convergence Properties of Finite-Time Homogeneous Controllers Through Its Implementation in a Flexible-Joint Robot","display_name":"An Analysis of Convergence Properties of Finite-Time Homogeneous Controllers Through Its Implementation in a Flexible-Joint Robot","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4297830967","doi":"https://doi.org/10.1109/cdc51059.2022.9992641"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992641","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063578435","display_name":"Jes\u00fas Mendoza\u2010Avila","orcid":"https://orcid.org/0000-0003-1374-4132"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jesus Mendoza-Avila","raw_affiliation_strings":["Inria, Univ. Lille,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Lille,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039416214","display_name":"Denis Efimov","orcid":"https://orcid.org/0000-0001-8847-5235"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Denis Efimov","raw_affiliation_strings":["Inria, Univ. Lille,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Lille,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032593897","display_name":"Leonid Fridman","orcid":"https://orcid.org/0000-0003-0208-3615"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leonid Fridman","raw_affiliation_strings":["Universidad Nacional Autόnoma de México,Facultad de Ingeniería,Mexico City,Mexico,04510"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Nacional Autόnoma de México,Facultad de Ingeniería,Mexico City,Mexico,04510","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011888247","display_name":"Jaime A. Moreno","orcid":"https://orcid.org/0000-0002-2556-9784"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jaime A. Moreno","raw_affiliation_strings":["Universidad Nacional Autόnoma de México,Instituto de Ingeniería,Mexico City,Mexico,04510"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Nacional Autόnoma de México,Instituto de Ingeniería,Mexico City,Mexico,04510","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":null,"first_page":"5789","last_page":"5794"},"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":0.9988999962806702,"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":0.9980999827384949,"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/convergence","display_name":"Convergence (economics)","score":0.7817511558532715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6577172875404358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6032883524894714},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5970121622085571},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5678046345710754},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5228776931762695},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5047398805618286},{"id":"https://openalex.org/keywords/ideal","display_name":"Ideal (ethics)","score":0.4852697551250458},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4843767583370209},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4720528721809387},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4712263345718384},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4650707244873047},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3137771785259247},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.266604483127594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20593687891960144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09548535943031311}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7817511558532715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6577172875404358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6032883524894714},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5970121622085571},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5678046345710754},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5228776931762695},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5047398805618286},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.4852697551250458},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4843767583370209},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4720528721809387},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4712263345718384},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4650707244873047},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3137771785259247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.266604483127594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20593687891960144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09548535943031311},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992641","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03778064v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03778064","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc. 61th IEEE Conference on Decision and Control (CDC), Dec 2022, Canc\u00fan, Mexico","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/76702","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/76702","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.1109/cdc51059.2022.9992641","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W102403351","https://openalex.org/W1515224583","https://openalex.org/W1789479682","https://openalex.org/W1967481037","https://openalex.org/W2077537048","https://openalex.org/W2091198516","https://openalex.org/W2154608673","https://openalex.org/W2158503284","https://openalex.org/W2168245063","https://openalex.org/W2331214896","https://openalex.org/W2548450113","https://openalex.org/W2600696923","https://openalex.org/W2742757051","https://openalex.org/W2784008933","https://openalex.org/W2883626054","https://openalex.org/W2906978108","https://openalex.org/W2971246051","https://openalex.org/W2997601858","https://openalex.org/W3030114094","https://openalex.org/W3036032090","https://openalex.org/W3088536068","https://openalex.org/W3091594195","https://openalex.org/W4234398551","https://openalex.org/W4293738473","https://openalex.org/W6679392325","https://openalex.org/W6733990764"],"related_works":["https://openalex.org/W2590472383","https://openalex.org/W2383873009","https://openalex.org/W2393580911","https://openalex.org/W2212184297","https://openalex.org/W3156456913","https://openalex.org/W1598955744","https://openalex.org/W2390945180","https://openalex.org/W2394052932","https://openalex.org/W2350360626","https://openalex.org/W2737552886"],"abstract_inverted_index":{"A":[0],"study":[1,102],"of":[2,5,17,20,35,43,55,76,79,100,107,114,117,124,133],"the":[3,18,33,41,53,59,64,69,77,80,88,97,105,108,115,122],"stability":[4],"interconnected":[6],"homogeneous":[7,62],"systems,":[8],"affected":[9],"by":[10,15],"singular":[11],"perturbations,":[12],"is":[13,83,91],"presented":[14],"means":[16],"implementation":[19,34],"finite-time":[21,36,71],"composite":[22],"control":[23],"in":[24,104],"a":[25,47,56,111,131],"single-link":[26],"flexible-joint":[27],"robot.":[28],"Previous":[29],"results":[30],"suggest":[31],"that":[32,52],"convergent":[37],"controllers":[38],"leads":[39],"to":[40,121],"arising":[42],"chattering.":[44],"Now,":[45],"throughout":[46],"practical":[48],"example":[49],"we":[50],"show":[51],"design":[54],"controller":[57],"making":[58],"whole":[60],"system":[61],"avoids":[63],"undesired":[65],"chattering":[66,125],"and":[67,128],"recovers":[68],"ideal":[70],"convergence":[72],"properties.":[73],"Regrettably,":[74],"information":[75],"states":[78],"fast":[81],"dynamics":[82],"not":[84,92],"commonly":[85],"available,":[86],"then":[87],"proposed":[89],"strategy":[90],"applicable":[93],"at":[94],"all.":[95],"Nevertheless,":[96],"main":[98],"interest":[99],"our":[101],"lays":[103],"expansion":[106],"panorama":[109],"for":[110],"better":[112],"understanding":[113],"causes":[116],"chattering,":[118],"which":[119],"contributes":[120],"development":[123],"reduction":[126],"techniques,":[127],"has":[129],"attracted":[130],"lot":[132],"attention,":[134],"nowadays.":[135]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}