{"id":"https://openalex.org/W2905239624","doi":"https://doi.org/10.1109/coase.2018.8560529","title":"Hierarchical Decentralized Robust Control Design for Modular and Reconfigurable Robots","display_name":"Hierarchical Decentralized Robust Control Design for Modular and Reconfigurable Robots","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2905239624","doi":"https://doi.org/10.1109/coase.2018.8560529","mag":"2905239624"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2018.8560529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2018.8560529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","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/A5039149190","display_name":"Gokhan Gungor","orcid":"https://orcid.org/0000-0003-0666-3158"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Gokhan Gungor","raw_affiliation_strings":["Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112658778","display_name":"William Melek","orcid":"https://orcid.org/0009-0002-5616-0268"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"William Melek","raw_affiliation_strings":["Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039149190"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.1672,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52190291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"1006","last_page":"1011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9805999994277954,"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/reconfigurability","display_name":"Reconfigurability","score":0.9623706340789795},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8538553714752197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7126895189285278},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6181755065917969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5974283218383789},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5369970202445984},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5140341520309448},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5111663937568665},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46537941694259644},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45963531732559204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.444912850856781},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4424080550670624},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4173280894756317},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19922932982444763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18617334961891174},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09287002682685852}],"concepts":[{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.9623706340789795},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8538553714752197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7126895189285278},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6181755065917969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5974283218383789},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5369970202445984},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5140341520309448},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5111663937568665},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46537941694259644},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45963531732559204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.444912850856781},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4424080550670624},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4173280894756317},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19922932982444763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18617334961891174},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09287002682685852},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2018.8560529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2018.8560529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","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":25,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1564897360","https://openalex.org/W1572273685","https://openalex.org/W1988336326","https://openalex.org/W2007058579","https://openalex.org/W2032146365","https://openalex.org/W2038445193","https://openalex.org/W2041842743","https://openalex.org/W2060636323","https://openalex.org/W2069774386","https://openalex.org/W2107755087","https://openalex.org/W2114093378","https://openalex.org/W2133278465","https://openalex.org/W2135268300","https://openalex.org/W2137958759","https://openalex.org/W2137973981","https://openalex.org/W2158172925","https://openalex.org/W2158970259","https://openalex.org/W2162315444","https://openalex.org/W2168639218","https://openalex.org/W2203377959","https://openalex.org/W2746717864","https://openalex.org/W3217246742","https://openalex.org/W6660948814","https://openalex.org/W6675854395"],"related_works":["https://openalex.org/W2883992449","https://openalex.org/W2346742340","https://openalex.org/W2156947512","https://openalex.org/W2369154187","https://openalex.org/W2145922707","https://openalex.org/W1524683553","https://openalex.org/W2887125121","https://openalex.org/W2755887994","https://openalex.org/W2145590848","https://openalex.org/W2369699286"],"abstract_inverted_index":{"Modular":[0],"and":[1,26,49,71,85,100],"reconfigurable":[2],"robots":[3],"(MRRs)":[4],"are":[5],"not":[6],"only":[7],"adaptable":[8],"to":[9,53,63,92,98],"multiple":[10],"industrial":[11],"task":[12],"execution":[13],"but":[14],"they":[15],"also":[16],"have":[17],"additional":[18],"advantages":[19],"such":[20,29],"as":[21],"versatile":[22],"hardware,":[23],"easier":[24],"maintenance,":[25],"transportability.":[27],"However,":[28],"features":[30],"render":[31],"the":[32,94,105,114],"controller":[33],"design":[34],"that":[35],"manages":[36],"a":[37,87],"variety":[38],"of":[39,69,104],"robot":[40],"configurations":[41],"with":[42],"reliable":[43],"performance":[44,66,96],"more":[45],"complex.":[46],"The":[47,102],"disturbances":[48],"uncertainties,":[50],"in":[51,57,67],"addition":[52],"reconfigurability,":[54],"introduce":[55],"difficulty":[56],"controlling":[58],"MRRs.":[59],"This":[60],"paper":[61],"aims":[62],"enhance":[64],"MRRs'":[65],"terms":[68],"accurate":[70],"stable":[72],"motion.":[73],"Our":[74],"proposed":[75,106],"robust":[76,97],"low-level":[77],"control":[78,83,90,107],"output":[79],"set":[80],"its":[81],"nominal":[82],"parameters,":[84],"utilizes":[86],"sliding":[88],"mode":[89],"approach":[91],"make":[93],"system":[95],"uncertainties":[99],"time-variations.":[101],"efficiency":[103],"methodology":[108],"is":[109],"verified":[110],"via":[111],"simulations":[112],"at":[113],"end.":[115]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
