{"id":"https://openalex.org/W4383108489","doi":"https://doi.org/10.1109/icra48891.2023.10161459","title":"Error-Domain Conservativity Control to Transparently Increase the Stability Range of Time-Discretized Controllers","display_name":"Error-Domain Conservativity Control to Transparently Increase the Stability Range of Time-Discretized Controllers","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108489","doi":"https://doi.org/10.1109/icra48891.2023.10161459"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5034297000","display_name":"Michael Rothammer","orcid":"https://orcid.org/0000-0002-8759-2234"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Michael Rothammer","raw_affiliation_strings":["Korean Advanced Institute of Science and Technology,Interactive Robotic Systems laboratory"],"affiliations":[{"raw_affiliation_string":"Korean Advanced Institute of Science and Technology,Interactive Robotic Systems laboratory","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Korean Advanced Institute of Science and Technology,Interactive Robotic Systems laboratory"],"affiliations":[{"raw_affiliation_string":"Korean Advanced Institute of Science and Technology,Interactive Robotic Systems laboratory","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034297000"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39752368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"12514","last_page":"12520"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9322999715805054,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.6808326244354248},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6628350019454956},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6202085614204407},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5872437953948975},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5808566808700562},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5399280786514282},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5114601850509644},{"id":"https://openalex.org/keywords/approximation-error","display_name":"Approximation error","score":0.49291348457336426},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.48660385608673096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4792730510234833},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.4612163305282593},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43693313002586365},{"id":"https://openalex.org/keywords/error-detection-and-correction","display_name":"Error detection and correction","score":0.41904327273368835},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36286842823028564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.336171418428421},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19954979419708252},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13261783123016357},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11836150288581848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10565844178199768}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6808326244354248},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6628350019454956},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6202085614204407},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5872437953948975},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5808566808700562},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5399280786514282},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5114601850509644},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.49291348457336426},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.48660385608673096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4792730510234833},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.4612163305282593},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43693313002586365},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.41904327273368835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36286842823028564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.336171418428421},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19954979419708252},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13261783123016357},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11836150288581848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10565844178199768},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/icra48891.2023.10161459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G5549820546","display_name":null,"funder_award_id":"21-CM-GU-04","funder_id":"https://openalex.org/F4320323103","funder_display_name":"Agency for Defense Development"}],"funders":[{"id":"https://openalex.org/F4320322004","display_name":"Ministry of National Defense","ror":"https://ror.org/05hfet039"},{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1480135040","https://openalex.org/W1989921194","https://openalex.org/W2071134706","https://openalex.org/W2083219114","https://openalex.org/W2096748534","https://openalex.org/W2114738202","https://openalex.org/W2135197913","https://openalex.org/W2140968721","https://openalex.org/W2144415816","https://openalex.org/W2147493289","https://openalex.org/W2148962693","https://openalex.org/W2152870685","https://openalex.org/W2153631465","https://openalex.org/W2154380210","https://openalex.org/W2170003609","https://openalex.org/W2171094356","https://openalex.org/W2290447585","https://openalex.org/W4210496134","https://openalex.org/W6668313509"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W1971388572","https://openalex.org/W4388093525"],"abstract_inverted_index":{"Time-discretization":[0],"introduces":[1],"an":[2,17,126],"explicit":[3],"time":[4,43],"dependency":[5,44],"for":[6,97,112],"control":[7,24,35,143,151],"laws":[8],"that":[9,41],"were":[10],"originally":[11],"designed":[12],"to":[13,74],"depend":[14],"exclusively":[15],"on":[16],"error":[18,29,39,60,80,93,119],"variable:":[19],"At":[20],"different":[21],"times,":[22],"the":[23,27,34,38,47,67,98,104,118,137],"actions":[25,152],"at":[26,58,78],"same":[28],"value":[30],"might":[31],"differ.":[32],"Integrating":[33],"action":[36],"over":[37,63,84],"reveals":[40],"this":[42,70,87,133],"translates":[45],"into":[46],"energy.":[48,154],"It":[49],"can":[50],"directly":[51],"cause":[52],"active":[53],"behavior":[54,149],"when":[55,92],"energy":[56,76,106,113],"values":[57,61,77,81,94,107],"given":[59,79],"decrease":[62],"time,":[64],"potentially":[65],"destabilizing":[66],"system.":[68],"In":[69],"work,":[71],"we":[72],"aim":[73],"prevent":[75],"from":[82],"decreasing":[83],"time.":[85,100],"To":[86],"end,":[88],"energies":[89],"are":[90,95,158],"recorded":[91,105],"encountered":[96],"first":[99],"Linear":[101],"interpolation":[102],"of":[103,117,132,150],"provides":[108],"a":[109,115,147],"lower":[110],"limit":[111,122],"as":[114],"function":[116],"value.":[120],"This":[121],"is":[123],"enforced":[124],"using":[125],"adaptive":[127],"damping.":[128],"The":[129,155],"main":[130],"contributions":[131],"work":[134],"include":[135],"increasing":[136],"stability":[138],"range":[139],"with":[140],"minimal":[141],"amplitude":[142],"modifications,":[144],"while":[145],"promoting":[146],"symmetric":[148],"and":[153,162],"approach's":[156],"characteristics":[157],"shown":[159],"in":[160,164],"simulation":[161],"validated":[163],"experiments.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}