{"id":"https://openalex.org/W2123852447","doi":"https://doi.org/10.1109/irds.2002.1041571","title":"Stability analysis and robust composite controller synthesis for flexible joint robots","display_name":"Stability analysis and robust composite controller synthesis for flexible joint robots","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2123852447","doi":"https://doi.org/10.1109/irds.2002.1041571","mag":"2123852447"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"H.D. Taghirad","raw_affiliation_strings":["Dept. of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran","Dept. of Electr. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Dept. of Electr. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058561416","display_name":"Mohammad A. Khosravi","orcid":"https://orcid.org/0000-0003-3619-4911"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M.A. Khosravi","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), K.N. Toosi U. of Technology, Tehran, Tehran, Iran","Dept. of Electr. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), K.N. Toosi U. of Technology, Tehran, Tehran, Iran","institution_ids":[]},{"raw_affiliation_string":"Dept. of Electr. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":6.5532,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96195927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2073","last_page":"2078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9972000122070312,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9972000122070312,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9927999973297119,"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":0.9811000227928162,"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":0.8003931045532227},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5898192524909973},{"id":"https://openalex.org/keywords/invariant-manifold","display_name":"Invariant manifold","score":0.5542485117912292},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5452107191085815},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5392436385154724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5109240412712097},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48399782180786133},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.47238683700561523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46217435598373413},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45935702323913574},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.45761245489120483},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.450361043214798},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4461638331413269},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4388566017150879},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3486037850379944},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3191415071487427},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.25215721130371094},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21650516986846924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1703185737133026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09828102588653564},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06622278690338135},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06509903073310852}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8003931045532227},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5898192524909973},{"id":"https://openalex.org/C20483540","wikidata":"https://www.wikidata.org/wiki/Q4200516","display_name":"Invariant manifold","level":2,"score":0.5542485117912292},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5452107191085815},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5392436385154724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5109240412712097},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48399782180786133},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.47238683700561523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46217435598373413},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45935702323913574},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.45761245489120483},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.450361043214798},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4461638331413269},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4388566017150879},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3486037850379944},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3191415071487427},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25215721130371094},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21650516986846924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1703185737133026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09828102588653564},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06622278690338135},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06509903073310852},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/irds.2002.1041571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.103.5570","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.103.5570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://saba.kntu.ac.ir/eecd/aras/papers/C32-IROS-02.PDF","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.99.4467","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.99.4467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://saba.kntu.ac.ir/eecd/aras/papers/J8-itra-02.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W76960327","https://openalex.org/W117774374","https://openalex.org/W326275391","https://openalex.org/W1515224583","https://openalex.org/W1520358907","https://openalex.org/W1525515159","https://openalex.org/W1526668334","https://openalex.org/W1592889394","https://openalex.org/W1789479682","https://openalex.org/W1989913584","https://openalex.org/W1995090200","https://openalex.org/W2022197757","https://openalex.org/W2028153280","https://openalex.org/W2111019179","https://openalex.org/W2112849204","https://openalex.org/W2116243329","https://openalex.org/W2120512179","https://openalex.org/W2131865711","https://openalex.org/W2140175846","https://openalex.org/W2149399361","https://openalex.org/W2154586475","https://openalex.org/W3149368001","https://openalex.org/W4298290699","https://openalex.org/W6603118759","https://openalex.org/W6631534011","https://openalex.org/W6638249461","https://openalex.org/W6677468094"],"related_works":["https://openalex.org/W2465092630","https://openalex.org/W2095844124","https://openalex.org/W2011941684","https://openalex.org/W2145250020","https://openalex.org/W2384451167","https://openalex.org/W1993606178","https://openalex.org/W2167191443","https://openalex.org/W2027197544","https://openalex.org/W1599979468","https://openalex.org/W2766141274"],"abstract_inverted_index":{"The":[0,10,104],"control":[1,42,128,140],"of":[2,12,24,53,83,106,125],"flexible":[3,14,48,102],"joint":[4,15,49],"manipulators":[5,16],"is":[6,17,31,44,112,130,135],"studied":[7],"in":[8,21],"detail.":[9],"model":[11],"N-axis":[13],"derived":[18],"and":[19,27,70,93,145],"reformulated":[20],"the":[22,28,47,64,71,90,100,107,123,126,138,148],"form":[23],"singular":[25],"perturbations,":[26],"integral":[29,73],"manifold":[30,74],"used":[32],"to":[33,114],"separate":[34],"fast":[35,65],"dynamics":[36,66],"from":[37],"slow":[38],"dynamics.":[39],"A":[40],"composite":[41],"algorithm":[43],"proposed":[45,127,139],"for":[46],"robots,":[50],"which":[51,61],"consists":[52,82],"two":[54],"main":[55],"parts.":[56],"Fast":[57],"control,":[58,78],"u/sub":[59,79],"f/,":[60],"guarantees":[62],"that":[63,137],"remains":[67,75],"asymptotically":[68],"stable,":[69,117],"corresponding":[72],"invariant.":[76],"Slow":[77],"s/,":[80],"itself":[81],"a":[84,94],"robust":[85,143],"PID":[86],"design":[87],"based":[88,98],"on":[89,99],"rigid":[91],"model,":[92],"corrective":[95],"term":[96],"designed":[97],"reduced":[101],"model.":[103],"stability":[105,120,144],"overall":[108],"closed":[109],"loop":[110],"system":[111],"proved":[113],"be":[115],"UUB":[116],"by":[118],"Lyapunov":[119],"analysis.":[121],"Finally,":[122],"effectiveness":[124],"law":[129,141],"verified":[131],"through":[132],"simulations.":[133],"It":[134],"shown":[136],"ensures":[142],"performance,":[146],"despite":[147],"modeling":[149],"uncertainties.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
