{"id":"https://openalex.org/W3189756568","doi":"https://doi.org/10.1109/icra48506.2021.9561892","title":"Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics","display_name":"Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3189756568","doi":"https://doi.org/10.1109/icra48506.2021.9561892","mag":"3189756568"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.05297","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063883713","display_name":"Tyler M. Paine","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tyler M. Paine","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Johns Hopkins University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Johns Hopkins University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063883713"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09923056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"52","last_page":"58"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9969000220298767,"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":0.9969000220298767,"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/T11236","display_name":"Control Systems and Identification","score":0.9968000054359436,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7349514961242676},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.6765407919883728},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5388943552970886},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5248596668243408},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5219337940216064},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5098282694816589},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5041049718856812},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4493574798107147},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.4449818730354309},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.43175873160362244},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.42467060685157776},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.424111008644104},{"id":"https://openalex.org/keywords/added-mass","display_name":"Added mass","score":0.4137519299983978},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.33853185176849365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2729380130767822},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13904908299446106},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.09826329350471497},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09687057137489319},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0876430869102478},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08577132225036621}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7349514961242676},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6765407919883728},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5388943552970886},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5248596668243408},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5219337940216064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5098282694816589},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5041049718856812},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4493574798107147},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.4449818730354309},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.43175873160362244},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.42467060685157776},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.424111008644104},{"id":"https://openalex.org/C122312997","wikidata":"https://www.wikidata.org/wiki/Q4681030","display_name":"Added mass","level":3,"score":0.4137519299983978},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.33853185176849365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2729380130767822},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13904908299446106},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.09826329350471497},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09687057137489319},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0876430869102478},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08577132225036621},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2108.05297","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.05297","pdf_url":"https://arxiv.org/pdf/2108.05297","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2108.05297","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2108.05297","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:3189756568","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2108.05297","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.05297","pdf_url":"https://arxiv.org/pdf/2108.05297","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6700000166893005,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W136674921","https://openalex.org/W1569934014","https://openalex.org/W1572161815","https://openalex.org/W1596805757","https://openalex.org/W1964511224","https://openalex.org/W2001524797","https://openalex.org/W2032338210","https://openalex.org/W2034825286","https://openalex.org/W2047993072","https://openalex.org/W2069469544","https://openalex.org/W2069767200","https://openalex.org/W2086242739","https://openalex.org/W2116187095","https://openalex.org/W2128135221","https://openalex.org/W2140535013","https://openalex.org/W2145383406","https://openalex.org/W2492811885","https://openalex.org/W2606887410","https://openalex.org/W2899437229","https://openalex.org/W2963610705","https://openalex.org/W2986924389","https://openalex.org/W3015815051","https://openalex.org/W3026829485","https://openalex.org/W6724291898","https://openalex.org/W6756369456","https://openalex.org/W6775518221"],"related_works":["https://openalex.org/W3207658195","https://openalex.org/W2025731666","https://openalex.org/W52445902","https://openalex.org/W1605350092","https://openalex.org/W2979961302","https://openalex.org/W2730018957","https://openalex.org/W2095685114","https://openalex.org/W1981950466","https://openalex.org/W2328729239","https://openalex.org/W194171796","https://openalex.org/W2006003821","https://openalex.org/W2061436362","https://openalex.org/W3154524743","https://openalex.org/W2553625082","https://openalex.org/W2676235706","https://openalex.org/W2222538316","https://openalex.org/W1580339039","https://openalex.org/W2911355765","https://openalex.org/W1501006159","https://openalex.org/W2026132167"],"abstract_inverted_index":{"This":[0,87],"paper":[1,88],"addresses":[2],"the":[3,16,76,82,95,116,121,130,136,143,182,197,211],"long-standing":[4],"open":[5],"problem":[6],"of":[7,9,20,24,42,48,61,100,113,138,150,152,154,160,174,200,206],"observability":[8,98],"mass":[10],"and":[11,35,91,157,203,241],"inertia":[12],"plant":[13,43,84,102,132,155,231],"parameters":[14,44,104,156,226,234],"in":[15],"adaptive":[17,58,77,108,122,161,207],"identification":[18],"(AID)":[19],"second-order":[21],"nonlinear":[22],"models":[23,232],"6":[25],"degree-of-freedom":[26],"rigid-body":[27],"dynamical":[28],"systems":[29,151],"subject":[30],"to":[31,54,72,81,127,129,164,210,223],"externally":[32],"applied":[33],"forces":[34],"moments.":[36],"Although":[37],"stable":[38,55,107],"methods":[39],"for":[40,45,94,105,110,147,158,188,235],"AID":[41,176],"this":[46,111,141,148,175,218],"class":[47,112,149],"systems,":[49,63],"as":[50,191,193],"well":[51,192],"numerous":[52],"approaches":[53],"model-based":[56],"direct":[57],"trajectory-tracking":[59],"control":[60,201],"such":[62],"have":[64,69],"been":[65,70],"reported,":[66],"these":[67],"studies":[68],"unable":[71],"prove":[73],"analytically":[74],"that":[75,180,217,227],"parameter":[78,85,123,133,162,166,208,213],"estimates":[79,124,163,209],"converge":[80,128],"true":[83,131,165,212],"values.":[86,134,214],"reports":[89],"necessary":[90],"sufficient":[92],"conditions":[93],"uniform":[96],"complete":[97],"(UCO)":[99],"6-DOF":[101],"inertial":[103],"a":[106,170],"identifier":[109],"systems.":[114],"When":[115],"UCO":[117,153,183],"condition":[118,184],"is":[119,142],"satisfied,":[120],"are":[125],"shown":[126],"To":[135],"best":[137],"our":[139],"knowledge":[140],"first":[144],"reported":[145],"proof":[146],"convergence":[159,205],"values.We":[167],"also":[168],"report":[169],"numerical":[171],"simulation":[172],"study":[173],"approach":[177,219],"which":[178],"shows":[179],"(a)":[181],"can":[185,220],"be":[186,221],"met":[187],"fully-actuated":[189],"plants":[190,195],"underactuated":[194],"with":[196],"proper":[198],"choice":[199],"input":[202],"(b)":[204],"We":[215],"conjecture":[216],"extended":[222],"include":[224],"other":[225],"appear":[228],"rigid":[229],"body":[230],"including":[233],"drag,":[236],"buoyancy,":[237],"added":[238],"mass,":[239],"bias,":[240],"actuators.":[242]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}