{"id":"https://openalex.org/W7123358591","doi":"https://doi.org/10.1109/cdc57313.2025.11312649","title":"Robust QP-based Control for Euler-Lagrange Systems with Guaranteed Task Space Stability: A Singular Perturbation Approach","display_name":"Robust QP-based Control for Euler-Lagrange Systems with Guaranteed Task Space Stability: A Singular Perturbation Approach","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123358591","doi":"https://doi.org/10.1109/cdc57313.2025.11312649"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th 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/A5122886288","display_name":"Yesol Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yesol Kim","raw_affiliation_strings":["Korea Institute of Industrial Technology,Ansan,South Korea,15588"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Industrial Technology,Ansan,South Korea,15588","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024045458","display_name":"Gyunghoon Park","orcid":"https://orcid.org/0000-0001-8339-5359"},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gyunghoon Park","raw_affiliation_strings":["University of Seoul,School of Electrical and Computer Engineering,Seoul,South Korea,02504"],"affiliations":[{"raw_affiliation_string":"University of Seoul,School of Electrical and Computer Engineering,Seoul,South Korea,02504","institution_ids":["https://openalex.org/I124633538"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5122886288"],"corresponding_institution_ids":["https://openalex.org/I89004649"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6767783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"850","last_page":"857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8374999761581421,"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":0.8374999761581421,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.06109999865293503,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.02459999918937683,"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":0.8144000172615051},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.617900013923645},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5008999705314636},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4885999858379364},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.45159998536109924},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.41670000553131104},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4068000018596649}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8144000172615051},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.617900013923645},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5008999705314636},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.453900009393692},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.45159998536109924},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4212000072002411},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41670000553131104},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4068000018596649},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3239000141620636},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C73586568","wikidata":"https://www.wikidata.org/wiki/Q2600211","display_name":"Parameter space","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th 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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,22,47,55,126],"robust":[6],"quadratic":[7],"programming-based":[8],"control":[9],"(QPC)":[10],"for":[11,40,78],"uncertain":[12],"Euler-Lagrange":[13],"systems.":[14],"The":[15],"key":[16],"idea":[17],"of":[18,54,72,87,110,116,125,136],"introducing":[19],"robustness":[20],"to":[21,25,65,132],"QPC":[23],"is":[24,44,58,75,104,121,130],"adopt":[26],"the":[27,33,41,51,62,69,73,96,108,114,117,134,137],"disturbance":[28,43],"observer":[29],"(DOB)":[30],"technique":[31],"in":[32,46,107],"QP":[34],"formulation:":[35],"that":[36,100],"is,":[37],"an":[38],"estimate":[39],"lumped":[42],"computed":[45],"least-square":[48],"sense":[49],"as":[50],"optimal":[52],"solution":[53],"QP,":[56],"which":[57],"then":[59],"compensated":[60],"through":[61],"input":[63,70],"channel":[64],"enhance":[66],"robustness.":[67],"Moreover,":[68],"redundancy":[71],"system":[74],"additionally":[76],"utilized":[77],"stabilizing":[79],"null":[80],"space":[81,89,102],"motion,":[82],"but":[83],"with":[84],"little":[85],"sacrifice":[86],"task":[88,101],"tracking":[90],"performance.":[91],"We":[92],"theoretically":[93],"prove":[94],"via":[95],"singular":[97],"perturbation":[98],"theory":[99],"dynamics":[103,120],"robustly":[105],"stable":[106],"presence":[109],"model":[111],"uncertainty,":[112],"where":[113],"concept":[115],"inertially":[118],"decoupling":[119],"applied.":[122],"A":[123],"simulation":[124],"two-link":[127],"robot":[128],"manipulator":[129],"conducted":[131],"verify":[133],"effectiveness":[135],"proposed":[138],"controller.":[139]},"counts_by_year":[],"updated_date":"2026-01-14T00:46:21.520733","created_date":"2026-01-14T00:00:00"}