{"id":"https://openalex.org/W2141830483","doi":"https://doi.org/10.1109/iros.2004.1389855","title":"A robust linear controller for flexible joint manipulators","display_name":"A robust linear controller for flexible joint manipulators","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2141830483","doi":"https://doi.org/10.1109/iros.2004.1389855","mag":"2141830483"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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":["Advanced Robotics and Automated Systems (ARAS), Department of Electrical Engineering, K.N. Toosi University of Technology, 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), Department of Electrical Engineering, K.N. Toosi University of Technology, 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":["Paya Partow Company, Iran","Dept. of Electr. Eng., K. N. Toosi Univ. of Technol., Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Paya Partow Company, 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":4.8518,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.94598481,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"3","issue":null,"first_page":"2936","last_page":"2941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980999827384949,"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/T11110","display_name":"Stability and Controllability of Differential Equations","score":0.9980000257492065,"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":0.8218305110931396},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6658359169960022},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6371039748191833},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5608939528465271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5448153614997864},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5325638055801392},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5246391892433167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157483220100403},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5133715867996216},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.43767303228378296},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.42474472522735596},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.4104463458061218},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.35468581318855286},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3539363741874695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2288569211959839},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21427640318870544},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1898937225341797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1192377507686615}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8218305110931396},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6658359169960022},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6371039748191833},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5608939528465271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5448153614997864},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5325638055801392},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5246391892433167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157483220100403},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5133715867996216},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.43767303228378296},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.42474472522735596},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.4104463458061218},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35468581318855286},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3539363741874695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2288569211959839},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21427640318870544},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1898937225341797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1192377507686615},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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/iros.2004.1389855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W117774374","https://openalex.org/W1500230604","https://openalex.org/W1515224583","https://openalex.org/W1520358907","https://openalex.org/W1525515159","https://openalex.org/W1592889394","https://openalex.org/W1971493524","https://openalex.org/W1995090200","https://openalex.org/W2112849204","https://openalex.org/W2116243329","https://openalex.org/W2120512179","https://openalex.org/W2123852447","https://openalex.org/W2131865711","https://openalex.org/W2140175846","https://openalex.org/W4298290699","https://openalex.org/W6631534011"],"related_works":["https://openalex.org/W4327639758","https://openalex.org/W1998082046","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2019676381","https://openalex.org/W1982149897","https://openalex.org/W2387468633","https://openalex.org/W2006371715","https://openalex.org/W2713536231","https://openalex.org/W2155614410"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3],"new":[4],"and":[5,33,47,52,69,94],"completely":[6],"linear":[7,60],"algorithm":[8,62],"is":[9,36,50,63,92,102,111,116,128,136],"proposed":[10,64,89,109,126],"for":[11,65,97],"composite":[12,90],"robust":[13,21,59,71,81,98],"control":[14,61],"of":[15,23,31,83,100,107,124],"flexible":[16,42],"joint":[17,43],"robots.":[18],"Moreover,":[19],"the":[20,24,29,40,66,80,84,88,105,108,121,125,133],"stability":[22,72,82,99],"closed":[25],"loop":[26],"system":[27,86,101],"in":[28],"presence":[30],"structured":[32,46],"unstructured":[34,48],"uncertainties":[35,49],"analyzed.":[37],"To":[38],"introduce":[39],"idea,":[41],"robot":[44],"with":[45],"modelled":[51],"converted":[53],"into":[54],"singular":[55],"perturbation":[56],"form.":[57],"A":[58],"slow":[67],"dynamics":[68],"its":[70],"conditions":[73,96],"are":[74],"derived":[75],"using":[76],"Thikhonov's":[77],"theorem.":[78],"Then":[79],"total":[85],"considering":[87],"controller":[91,110,127],"analyzed,":[93],"sufficient":[95],"obtained.":[103],"Finally":[104],"effectiveness":[106],"verified":[112],"through":[113],"simulations.":[114],"It":[115],"shown":[117],"that":[118],"not":[119],"only":[120],"tracking":[122],"performance":[123],"very":[129],"suitable,":[130],"but":[131],"also":[132],"actuator":[134],"effort":[135],"much":[137],"smaller":[138],"than":[139],"previous":[140],"result.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}