{"id":"https://openalex.org/W2086339206","doi":"https://doi.org/10.1109/iecon.2012.6389141","title":"On passivity-based control of a class of electrically driven robots","display_name":"On passivity-based control of a class of electrically driven robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2086339206","doi":"https://doi.org/10.1109/iecon.2012.6389141","mag":"2086339206"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2012.6389141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389141","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","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/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Tijuana, Mexico","Instituto Polit\u00e9cnico Nacional \u2013 CITEDI, Ave. del Parque 1310, Mesa de Otay, Tijuana B.C. 22510, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Tijuana, Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional \u2013 CITEDI, Ave. del Parque 1310, Mesa de Otay, Tijuana B.C. 22510, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074818693","display_name":"Ricardo Campa","orcid":"https://orcid.org/0000-0002-8854-5026"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ricardo Campa","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de La Laguna, Torreon, Mexico","Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah., 27000, MEXICO"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna, Torreon, Mexico","institution_ids":["https://openalex.org/I4210095469"]},{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah., 27000, MEXICO","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007101144","display_name":"V\u00edctor Santib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-0870-8615"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Victor Santibanez","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de La Laguna, Torreon, Mexico","Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah., 27000, MEXICO"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna, Torreon, Mexico","institution_ids":["https://openalex.org/I4210095469"]},{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah., 27000, MEXICO","institution_ids":["https://openalex.org/I4210095469"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002712538"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":2.2522,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89473282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2756","last_page":"2761"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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":0.9975000023841858,"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":0.9969000220298767,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8482810258865356},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7401704788208008},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6876590847969055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6731826663017273},{"id":"https://openalex.org/keywords/amplifier","display_name":"Amplifier","score":0.60507732629776},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5856980681419373},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5841900706291199},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5740482807159424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5332735776901245},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5329849123954773},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.495767205953598},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4894598722457886},{"id":"https://openalex.org/keywords/servo-drive","display_name":"Servo drive","score":0.48257842659950256},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.4670492708683014},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.44920480251312256},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4478302597999573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3518548011779785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26943427324295044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11338236927986145},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09296786785125732},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.08270949125289917},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06559544801712036}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8482810258865356},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7401704788208008},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6876590847969055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6731826663017273},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.60507732629776},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5856980681419373},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5841900706291199},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5740482807159424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5332735776901245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5329849123954773},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.495767205953598},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4894598722457886},{"id":"https://openalex.org/C49581611","wikidata":"https://www.wikidata.org/wiki/Q7455931","display_name":"Servo drive","level":3,"score":0.48257842659950256},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.4670492708683014},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.44920480251312256},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4478302597999573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3518548011779785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26943427324295044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11338236927986145},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09296786785125732},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.08270949125289917},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06559544801712036},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/iecon.2012.6389141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389141","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W102204189","https://openalex.org/W178056938","https://openalex.org/W194456869","https://openalex.org/W1869902755","https://openalex.org/W2053973063","https://openalex.org/W2137879993","https://openalex.org/W4205362845","https://openalex.org/W4210939600"],"related_works":["https://openalex.org/W2360279824","https://openalex.org/W2387839289","https://openalex.org/W2045478930","https://openalex.org/W2384182507","https://openalex.org/W2384578230","https://openalex.org/W2378363272","https://openalex.org/W2365999728","https://openalex.org/W2357453782","https://openalex.org/W761730723","https://openalex.org/W2390827194"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,62],"class":[4],"of":[5],"robot":[6],"manipulators":[7],"actuated":[8],"by":[9],"direct":[10],"current":[11,18],"(DC)":[12],"motors":[13],"and":[14],"servo":[15,37],"amplifiers":[16],"in":[17],"mode":[19],"is":[20,26,46],"studied.":[21],"For":[22],"those":[23],"robots,":[24],"it":[25],"assumed":[27],"that":[28],"the":[29,33,36,50],"control":[30,59],"inputs":[31],"to":[32,53,61],"manipulator":[34],"are":[35],"amplifier":[38],"input":[39,60],"voltages.":[40],"A":[41],"model-based":[42],"trajectory":[43],"tracking":[44],"controller":[45],"developed,":[47],"which":[48],"renders":[49],"closed-loop":[51],"system":[52],"be":[54],"passive":[55],"from":[56],"an":[57],"auxiliary":[58],"filtered":[63],"error":[64],"signal.":[65],"Experimental":[66],"results":[67],"support":[68],"theoretical":[69],"results.":[70]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}