{"id":"https://openalex.org/W2113223846","doi":"https://doi.org/10.1109/icarcv.2004.1469475","title":"Decentralized control of robotic manipulators with neural networks","display_name":"Decentralized control of robotic manipulators with neural networks","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W2113223846","doi":"https://doi.org/10.1109/icarcv.2004.1469475","mag":"2113223846"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2004.1469475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1469475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","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/A5100441913","display_name":"Cheng Xiang","orcid":"https://orcid.org/0000-0002-1229-6860"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"C. Xiang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","Dept. of Electr. & Comput. Eng., National Univ. of Singapore, Lower Kent Ridge Road, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., National Univ. of Singapore, Lower Kent Ridge Road, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024752191","display_name":"Sonia Siow","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S.Y. Siow","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","Dept. of Electr. & Comput. Eng., National Univ. of Singapore, Lower Kent Ridge Road, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., National Univ. of Singapore, Lower Kent Ridge Road, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100441913"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.9579,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81309054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"2029","last_page":"2034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9878000020980835,"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":0.7931779623031616},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7857309579849243},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6286173462867737},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6187734603881836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.616992175579071},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5658596754074097},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5450530052185059},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5324897170066833},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.472819447517395},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4547116756439209},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4437611997127533},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42260611057281494},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41807544231414795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3167388141155243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.259214848279953},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2563663125038147},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0600527822971344}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7931779623031616},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7857309579849243},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6286173462867737},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6187734603881836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.616992175579071},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5658596754074097},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5450530052185059},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5324897170066833},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.472819447517395},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4547116756439209},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4437611997127533},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42260611057281494},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41807544231414795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3167388141155243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.259214848279953},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2563663125038147},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0600527822971344},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2004.1469475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1469475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","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/W1517236425","https://openalex.org/W1966730141","https://openalex.org/W2057942173","https://openalex.org/W2095226742","https://openalex.org/W2130480081","https://openalex.org/W2131750416","https://openalex.org/W2166831132"],"related_works":["https://openalex.org/W2567520115","https://openalex.org/W1545539801","https://openalex.org/W2567391447","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W2344226335","https://openalex.org/W4280596088","https://openalex.org/W2098533963","https://openalex.org/W2055801945","https://openalex.org/W2148178391"],"abstract_inverted_index":{"A":[0],"decentralized":[1,41,95],"neuro-controller":[2,84],"with":[3,14,90],"feedback":[4,24],"error":[5],"learning":[6],"is":[7,74],"proposed":[8,72],"in":[9,44],"this":[10],"paper":[11],"to":[12,38,61],"deal":[13],"robot":[15,46,88],"manipulator":[16,47,89],"tracking":[17,55,80],"problem.":[18],"The":[19],"PD":[20],"+":[21,26],"nonlinear":[22,42],"(NL)":[23],"law":[25],"robustifying":[27],"signal":[28],"ensure":[29],"global":[30,66],"stability":[31],"while":[32],"the":[33,40,45,62,68,71,79,83,93],"neural":[34],"networks":[35],"are":[36,57],"utilized":[37],"compensate":[39],"terms":[43],"dynamics":[48],"so":[49],"that":[50,91],"both":[51],"robustness":[52],"and":[53],"good":[54],"performance":[56,81],"achieved.":[58],"In":[59],"addition":[60],"theoretical":[63],"proof":[64],"of":[65,70,82,92],"stability,":[67],"effectiveness":[69],"scheme":[73],"also":[75],"demonstrated":[76],"by":[77],"comparing":[78],"for":[85],"a":[86],"two-link":[87],"conventional":[94],"adaptive":[96],"controller.":[97]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
