{"id":"https://openalex.org/W2799264695","doi":"https://doi.org/10.1109/icit.2018.8352148","title":"A study on the L&lt;inf&gt;\u221e&lt;/inf&gt;/L&lt;inf&gt;2&lt;/inf&gt; performance of a computed torque controller","display_name":"A study on the L&lt;inf&gt;\u221e&lt;/inf&gt;/L&lt;inf&gt;2&lt;/inf&gt; performance of a computed torque controller","publication_year":2018,"publication_date":"2018-02-01","ids":{"openalex":"https://openalex.org/W2799264695","doi":"https://doi.org/10.1109/icit.2018.8352148","mag":"2799264695"},"language":"en","primary_location":{"id":"doi:10.1109/icit.2018.8352148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2018.8352148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Industrial Technology (ICIT)","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/A5100333069","display_name":"Jung Hoon Kim","orcid":"https://orcid.org/0000-0002-5387-2895"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jung Hoon Kim","raw_affiliation_strings":["Center for Robotics Research Korea Institute of Science and Technology, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Center for Robotics Research Korea Institute of Science and Technology, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007505017","display_name":"Sung-moon Hur","orcid":"https://orcid.org/0000-0002-0895-6694"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-moon Hur","raw_affiliation_strings":["Department of Transdisciplinary Stuide, Seoul National University, Suwon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Stuide, Seoul National University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Center for Robotics Research Korea Institute of Science and Technology, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Center for Robotics Research Korea Institute of Science and Technology, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100333069"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03474076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"35","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9894000291824341,"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":0.9894000291824341,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.988099992275238,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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/norm","display_name":"Norm (philosophy)","score":0.6097908020019531},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42904573678970337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3991731107234955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3968082070350647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28689002990722656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18591931462287903},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11011680960655212},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.10920166969299316}],"concepts":[{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.6097908020019531},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42904573678970337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3991731107234955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3968082070350647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28689002990722656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18591931462287903},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11011680960655212},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.10920166969299316},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit.2018.8352148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2018.8352148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W823573760","https://openalex.org/W1509235676","https://openalex.org/W1569867348","https://openalex.org/W1966948790","https://openalex.org/W1997014929","https://openalex.org/W1997650413","https://openalex.org/W2016789948","https://openalex.org/W2031507805","https://openalex.org/W2059163735","https://openalex.org/W2129417063","https://openalex.org/W2132294818","https://openalex.org/W2146349230","https://openalex.org/W2166713991","https://openalex.org/W2178946461","https://openalex.org/W2546803873","https://openalex.org/W2606637440","https://openalex.org/W2741170428","https://openalex.org/W4205362845","https://openalex.org/W4210939600","https://openalex.org/W4250419630","https://openalex.org/W6623328592","https://openalex.org/W6633969785"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,9,50,61,65],"new":[4],"performance":[5,86,109,154],"analysis":[6,155],"method":[7],"for":[8,100],"computed":[10,66,89,134],"torque":[11,67,90],"controller":[12,91],"against":[13],"disturbances":[14,101],"with":[15,76],"the":[16,19,33,56,72,77,88,94,98,108,115,127,137,149,152],"framework":[17],"of":[18,55,87,97,102,126,151],"induced":[20],"norm":[21,125],"from":[22],"L":[23,34,78,116],"<inf":[24,35,39,79,83,117,121],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[25,36,40,80,84,118,122],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</inf>":[26,41,85,123],"to":[27,147],"(which":[28],"is":[29,105],"also":[30],"denoted":[31],"by":[32,59,135],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</inf>":[37,81,119],"/L":[38,82,120],"-induced":[42,124],"norm).":[43],"To":[44],"this":[45],"end,":[46],"we":[47],"first":[48],"derive":[49],"linear":[51],"time-invariant":[52],"(LTI)":[53],"representation":[54],"system":[57,130],"obtained":[58],"connecting":[60],"robot":[62],"manipulator":[63],"and":[64],"controller.":[68],"We":[69,111],"then":[70],"formulate":[71],"problem":[73],"definition":[74],"associated":[75],"in":[92],"which":[93],"maximum":[95],"magnitude":[96],"output":[99],"finite":[103],"energy":[104],"adopted":[106],"as":[107],"measure.":[110],"next":[112],"show":[113],"that":[114],"derived":[128],"LTI":[129],"can":[131],"be":[132],"explicitly":[133],"solving":[136],"continuous-time":[138],"Lyapunov":[139],"equation.":[140],"Finally,":[141],"some":[142],"experiment":[143],"results":[144],"are":[145],"provided":[146],"demonstrate":[148],"effectiveness":[150],"introduced":[153],"method.":[156]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}