{"id":"https://openalex.org/W4386159540","doi":"https://doi.org/10.1109/icarm58088.2023.10218820","title":"Robust Controller Design for an Active Hexapod Platform with Prescribed Performance","display_name":"Robust Controller Design for an Active Hexapod Platform with Prescribed Performance","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159540","doi":"https://doi.org/10.1109/icarm58088.2023.10218820"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5070509307","display_name":"Rongji Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rongji Yin","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028344030","display_name":"Yi Shi","orcid":"https://orcid.org/0000-0001-5819-3034"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Shi","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014747872","display_name":"Wei Xie","orcid":"https://orcid.org/0000-0003-4984-6659"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xie","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101654848","display_name":"Jinhui Lu","orcid":"https://orcid.org/0000-0003-3291-3288"},"institutions":[{"id":"https://openalex.org/I4210097049","display_name":"Shanghai Ship and Shipping Research Institute","ror":"https://ror.org/00z9npm78","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210097049"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhui Lu","raw_affiliation_strings":["National Engineering Research Center of Ship & Shipping Control System"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Ship & Shipping Control System","institution_ids":["https://openalex.org/I4210097049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110738325","display_name":"Yu Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wen","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103346337","display_name":"Weixing Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weixing Cheng","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414775","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0002-4700-1276"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5070509307"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.1878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46670571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"113","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9973000288009644,"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/hexapod","display_name":"Hexapod","score":0.9644994735717773},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8304612040519714},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.7744042873382568},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6450065970420837},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6272732019424438},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6154286861419678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5842167139053345},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.557195246219635},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5445348620414734},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5044699907302856},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.47591453790664673},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4559623897075653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4335535168647766},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26577872037887573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25614163279533386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24531343579292297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2424944043159485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0840916633605957},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.07726931571960449}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9644994735717773},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8304612040519714},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.7744042873382568},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6450065970420837},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6272732019424438},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6154286861419678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5842167139053345},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.557195246219635},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5445348620414734},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5044699907302856},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.47591453790664673},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4559623897075653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4335535168647766},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26577872037887573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25614163279533386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24531343579292297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2424944043159485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0840916633605957},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.07726931571960449},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1907634407","https://openalex.org/W1971939519","https://openalex.org/W2025939589","https://openalex.org/W2053411443","https://openalex.org/W2097121541","https://openalex.org/W2117896481","https://openalex.org/W2289767613","https://openalex.org/W2537516868","https://openalex.org/W2551941323","https://openalex.org/W2613045496","https://openalex.org/W2758274745","https://openalex.org/W3095577524","https://openalex.org/W3186285333","https://openalex.org/W3203431256","https://openalex.org/W4210335566","https://openalex.org/W4328117336","https://openalex.org/W6730241407"],"related_works":["https://openalex.org/W2971423139","https://openalex.org/W2029586042","https://openalex.org/W2035018511","https://openalex.org/W1976738611","https://openalex.org/W1981017202","https://openalex.org/W2082165702","https://openalex.org/W3131439977","https://openalex.org/W2116296582","https://openalex.org/W2145922707","https://openalex.org/W1524683553"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"use":[4],"a":[5,39,48,52,57],"robust":[6],"controller":[7,24],"with":[8,42],"prescribed":[9],"performance":[10],"for":[11],"the":[12,29,64,67],"Stewart-Gangway":[13],"system,":[14],"achieving":[15],"motion":[16],"compensation":[17],"under":[18],"unknown":[19],"time-varying":[20],"disturbances.":[21],"The":[22],"designed":[23,68],"is":[25],"able":[26],"to":[27],"drive":[28],"Stewart":[30],"top":[31],"platform":[32],"towards":[33],"an":[34],"arbitrarily":[35],"small":[36,59],"neighborhood":[37],"of":[38,66],"desired":[40],"trajectory,":[41],"convergence":[43],"speed":[44],"no":[45],"less":[46,55],"than":[47,56],"prespecified":[49],"value,":[50],"and":[51],"maximum":[53],"overshoot":[54],"sufficiently":[58],"preseted":[60],"constant.":[61],"To":[62],"demonstrate":[63],"effictiveness":[65],"control":[69],"strategy,":[70],"simulation":[71],"results":[72],"are":[73],"given.":[74]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}