{"id":"https://openalex.org/W2584129314","doi":"https://doi.org/10.1109/icinfa.2016.7832083","title":"Improved adaptive output feedback controller for flexible-joint robot manipulators","display_name":"Improved adaptive output feedback controller for flexible-joint robot manipulators","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2584129314","doi":"https://doi.org/10.1109/icinfa.2016.7832083","mag":"2584129314"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7832083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5006859983","display_name":"Huashan Liu","orcid":"https://orcid.org/0000-0002-8209-4922"},"institutions":[{"id":"https://openalex.org/I181326427","display_name":"Donghua University","ror":"https://ror.org/035psfh38","country_code":"CN","type":"education","lineage":["https://openalex.org/I181326427"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huashan Liu","raw_affiliation_strings":["College of Information Science and Technology, Donghua University, Shanghai 201620, China","College of Information Science and Technology, Donghua University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Donghua University, Shanghai 201620, China","institution_ids":["https://openalex.org/I181326427"]},{"raw_affiliation_string":"College of Information Science and Technology, Donghua University, Shanghai, China","institution_ids":["https://openalex.org/I181326427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034224902","display_name":"Yong Huang","orcid":"https://orcid.org/0000-0002-6579-0862"},"institutions":[{"id":"https://openalex.org/I181326427","display_name":"Donghua University","ror":"https://ror.org/035psfh38","country_code":"CN","type":"education","lineage":["https://openalex.org/I181326427"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Huang","raw_affiliation_strings":["College of Information Science and Technology, Donghua University, Shanghai 201620, China","College of Information Science and Technology, Donghua University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Donghua University, Shanghai 201620, China","institution_ids":["https://openalex.org/I181326427"]},{"raw_affiliation_string":"College of Information Science and Technology, Donghua University, Shanghai, China","institution_ids":["https://openalex.org/I181326427"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085001478","display_name":"Wenxiang Wu","orcid":"https://orcid.org/0000-0002-0207-2847"},"institutions":[{"id":"https://openalex.org/I4210111984","display_name":"Ningbo Product Quality Supervision and Inspection Institute","ror":"https://ror.org/023kz8918","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210111984"]},{"id":"https://openalex.org/I4210147498","display_name":"Ningbo Entry-Exit Inspection And Quarantine Bureau","ror":"https://ror.org/05h57he97","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210147498"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxiang Wu","raw_affiliation_strings":["Ningbo Special Equipment Inspection & Research Institute, Ningbo, Zhejiang Province, China","Ningbo Special Equipment Inspection & Research Institute, Ningbo, Zhejiang Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ningbo Special Equipment Inspection & Research Institute, Ningbo, Zhejiang Province, China","institution_ids":["https://openalex.org/I4210147498","https://openalex.org/I4210111984"]},{"raw_affiliation_string":"Ningbo Special Equipment Inspection & Research Institute, Ningbo, Zhejiang Province, China","institution_ids":["https://openalex.org/I4210147498"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1653","last_page":"1658"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991000294685364,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9961000084877014,"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":0.8625890016555786},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5962536334991455},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5588478446006775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5359177589416504},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5346512198448181},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5022182464599609},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5018160343170166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.493569016456604},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4277762770652771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2765270173549652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18990018963813782},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18942585587501526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10881993174552917}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8625890016555786},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5962536334991455},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5588478446006775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5359177589416504},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5346512198448181},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5022182464599609},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5018160343170166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.493569016456604},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4277762770652771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2765270173549652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18990018963813782},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18942585587501526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10881993174552917},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2016.7832083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1966556797","https://openalex.org/W1990380686","https://openalex.org/W2013815656","https://openalex.org/W2014473913","https://openalex.org/W2028041634","https://openalex.org/W2062205503","https://openalex.org/W2083483041","https://openalex.org/W2087084782","https://openalex.org/W2126369450","https://openalex.org/W2140175846","https://openalex.org/W2158136636","https://openalex.org/W2170346869","https://openalex.org/W2192186419","https://openalex.org/W2202357163"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W620095722","https://openalex.org/W1990473637","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,81,99],"improved":[4,45],"adaptive":[5,46],"output":[6],"feedback":[7],"tracking":[8,117],"controller":[9],"for":[10,51,92],"the":[11,19,27,52,66,73,106,115,120],"flexible-joint":[12,31],"manipulators":[13,33],"with":[14,77],"parametric":[15],"uncertainties.":[16],"Based":[17],"on":[18],"singular":[20],"perturbation":[21],"theory":[22],"and":[23,40,55,95],"integral":[24],"manifold":[25],"theory,":[26],"dynamic":[28],"system":[29,76,108],"of":[30,59,105,119],"robot":[32],"is":[34,49,62,85,109],"decoupled":[35],"into":[36],"a":[37,41,56],"slow":[38,53],"subsystem":[39],"fast":[42,67],"subsystem.":[43],"An":[44],"control":[47,75,107],"law":[48],"designed":[50],"subsystem,":[54],"general":[57],"class":[58],"saturation":[60],"functions":[61],"invoked":[63],"to":[64,70,87],"design":[65],"sub-controller.":[68],"Furthermore,":[69],"carry":[71],"out":[72],"whole":[74],"only":[78],"position":[79],"measurements,":[80],"approximate":[82],"differential":[83],"filter":[84],"involved":[86],"generate":[88],"pseudo":[89],"velocity":[90],"signals":[91],"both":[93],"links":[94],"motors.":[96],"In":[97],"addition,":[98],"explicit":[100],"but":[101],"strict":[102],"stability":[103],"proof":[104],"presented.":[110],"Finally,":[111],"simulation":[112],"results":[113],"verify":[114],"superior":[116],"performance":[118],"proposed":[121],"controller.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}