{"id":"https://openalex.org/W1978905435","doi":"https://doi.org/10.1109/icra.2013.6630837","title":"Regressor-free tracking of robots with self-tuning PD-like control","display_name":"Regressor-free tracking of robots with self-tuning PD-like control","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1978905435","doi":"https://doi.org/10.1109/icra.2013.6630837","mag":"1978905435"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5006733313","display_name":"J. Armendariz","orcid":"https://orcid.org/0009-0003-4869-9818"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Armendariz","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Japan","Dept. of Robot., Ritsumeikan Univ., Kusatu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Dept. of Robot., Ritsumeikan Univ., Kusatu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":["Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (CINVESTAV), Saltillo Campus, Mexico","Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (CINVESTAV), Saltillo Campus, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068596586","display_name":"Rodolfo Garc\u00eda-Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-4402-6072"},"institutions":[{"id":"https://openalex.org/I189977406","display_name":"Universidad de Los Andes, Chile","ror":"https://ror.org/03v0qd864","country_code":"CL","type":"education","lineage":["https://openalex.org/I189977406"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"R. Garcia-Rodriguez","raw_affiliation_strings":["College of Engineering and Applied Sciences, Universidad de los Andes, Chile","Coll. of Eng. & Appl. Sci., Univ. de los Andes, Los Andes, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Applied Sciences, Universidad de los Andes, Chile","institution_ids":["https://openalex.org/I189977406"]},{"raw_affiliation_string":"Coll. of Eng. & Appl. Sci., Univ. de los Andes, Los Andes, Chile","institution_ids":["https://openalex.org/I189977406"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Hirai","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Japan","Dept. of Robot., Ritsumeikan Univ., Kusatu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Dept. of Robot., Ritsumeikan Univ., Kusatu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033057864","display_name":"Sergio Rosales","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"S. Rosales","raw_affiliation_strings":["Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (CINVESTAV), Saltillo Campus, Mexico","Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (CINVESTAV), Saltillo Campus, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002788944","display_name":"Felipe Machorro-Fern\u00e1ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"F. A. Machorro-Fernandez","raw_affiliation_strings":["Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies, CINVESTAV, Mexico","Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies, CINVESTAV, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. of Robot. & Adv. Manuf., Res. Center for Adv. Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.936,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65742008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","issue":null,"first_page":"1956","last_page":"1962"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9937999844551086,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9936000108718872,"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":0.8405944108963013},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6727458834648132},{"id":"https://openalex.org/keywords/dissipative-system","display_name":"Dissipative system","score":0.6229296326637268},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.5413877367973328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.536343514919281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5070738792419434},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.502495527267456},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5012392997741699},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.46351420879364014},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4504391849040985},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.44658029079437256},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44078493118286133},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.4381329119205475},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4199334383010864},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35609298944473267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27781516313552856},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2699519991874695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24728700518608093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21918407082557678},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1697055995464325},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10257589817047119},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07616189122200012},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07547959685325623}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8405944108963013},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6727458834648132},{"id":"https://openalex.org/C99692599","wikidata":"https://www.wikidata.org/wiki/Q596577","display_name":"Dissipative system","level":2,"score":0.6229296326637268},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.5413877367973328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536343514919281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5070738792419434},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.502495527267456},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5012392997741699},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.46351420879364014},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4504391849040985},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.44658029079437256},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44078493118286133},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.4381329119205475},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4199334383010864},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35609298944473267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27781516313552856},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2699519991874695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24728700518608093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21918407082557678},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1697055995464325},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10257589817047119},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07616189122200012},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07547959685325623},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/icra.2013.6630837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2018869705","https://openalex.org/W2030959268","https://openalex.org/W2047816597","https://openalex.org/W2060318155","https://openalex.org/W2066033083","https://openalex.org/W2069793124","https://openalex.org/W2083483041","https://openalex.org/W2091759155","https://openalex.org/W2098705838","https://openalex.org/W2103936935","https://openalex.org/W2115932303","https://openalex.org/W2119326223","https://openalex.org/W2130480081","https://openalex.org/W2148001729","https://openalex.org/W2155029638","https://openalex.org/W2158970259","https://openalex.org/W2162338246","https://openalex.org/W4206242592"],"related_works":["https://openalex.org/W2371200319","https://openalex.org/W2367609594","https://openalex.org/W2350320737","https://openalex.org/W2002388147","https://openalex.org/W2391455523","https://openalex.org/W2739518152","https://openalex.org/W2091416718","https://openalex.org/W3098928304","https://openalex.org/W4239476321","https://openalex.org/W9469511"],"abstract_inverted_index":{"The":[0,62],"success":[1],"in":[2,102],"real":[3,121],"applications":[4],"of":[5,25,38,48,53,65,90,105],"PID":[6,81],"regulator":[7],"has":[8],"thought":[9],"us":[10],"that":[11,77],"it":[12],"is":[13,60,68,100,110],"desirable":[14],"a":[15,69,74,92],"simple":[16],"controller":[17],"with":[18],"clear":[19],"and":[20,45,58,107,112,118],"intuitive":[21],"policy":[22],"for":[23,51,120],"tuning":[24],"feedback":[26],"gains,":[27],"as":[28,30],"well":[29],"minimum":[31],"or":[32],"null":[33],"dependency":[34],"on":[35],"the":[36,39,79,88,103,116],"dynamics":[37],"system.":[40],"In":[41],"this":[42],"paper,":[43],"theoretical":[44],"experimental":[46,108],"results":[47],"PD-like":[49],"structures":[50],"tracking":[52],"robots":[54],"subject":[55],"to":[56,73,95],"friction":[57],"disturbances":[59],"presented.":[61],"salient":[63],"feature":[64],"our":[66],"proposal":[67],"neuro-fuzzy":[70],"schemes":[71],"used":[72],"single":[75],"gain":[76,86],"multiplies":[78],"regressor-free":[80],"structure.":[82],"This":[83],"bounded":[84],"time-varying":[85],"plays":[87],"role":[89],"enforcing":[91],"dissipative":[93],"mapping":[94],"obtain":[96],"exponential":[97],"stability.":[98],"Stability":[99],"obtained":[101],"sense":[104],"Lyapunov":[106],"study":[109],"presented":[111],"discussed,":[113],"which":[114],"highlights":[115],"viability":[117],"feasibility":[119],"applications.":[122]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}