{"id":"https://openalex.org/W2004070105","doi":"https://doi.org/10.1109/iros.2014.6942886","title":"A novel RISE-based adaptive feedforward controller for redundantly actuated parallel manipulators","display_name":"A novel RISE-based adaptive feedforward controller for redundantly actuated parallel manipulators","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2004070105","doi":"https://doi.org/10.1109/iros.2014.6942886","mag":"2004070105"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01070860","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003184493","display_name":"Mouss\u00e2b Bennehar","orcid":"https://orcid.org/0000-0002-6566-6132"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Bennehar","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France","LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Chemori","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France","LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128487","display_name":"Fran\u00e7ois Pierrot","orcid":"https://orcid.org/0000-0002-9638-4357"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Pierrot","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France","LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2311,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82125152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"16","issue":null,"first_page":"2389","last_page":"2394"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9948999881744385,"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":0.8779820203781128},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.8431418538093567},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6647282242774963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214273571968079},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5085157155990601},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49647432565689087},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4869731366634369},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47393399477005005},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4725881516933441},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.43540069460868835},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22684335708618164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22534635663032532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15736407041549683},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.10046744346618652}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8779820203781128},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8431418538093567},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6647282242774963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214273571968079},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5085157155990601},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49647432565689087},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4869731366634369},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47393399477005005},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4725881516933441},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.43540069460868835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22684335708618164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22534635663032532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15736407041549683},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.10046744346618652},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6942886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01070860v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01070860","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01070860v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01070860","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1988242845","https://openalex.org/W1994839325","https://openalex.org/W2025605662","https://openalex.org/W2070678224","https://openalex.org/W2095646014","https://openalex.org/W2099920598","https://openalex.org/W2101433417","https://openalex.org/W2105174847","https://openalex.org/W2116243329","https://openalex.org/W2132294818","https://openalex.org/W2136292915","https://openalex.org/W2157577511","https://openalex.org/W2170579465","https://openalex.org/W2171178391","https://openalex.org/W4246923680","https://openalex.org/W4248040698","https://openalex.org/W4285719527","https://openalex.org/W6828165407"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W620095722","https://openalex.org/W2077728074","https://openalex.org/W2984509520","https://openalex.org/W2089306986","https://openalex.org/W1545539801","https://openalex.org/W4280596088","https://openalex.org/W1966075561"],"abstract_inverted_index":{"A":[0],"novel":[1],"adaptive":[2,53,124],"controller":[3,47,77,125,131],"based":[4,97],"on":[5,37,81],"the":[6,10,13,27,38,45,59,64,103,109,113,122,128],"Robust":[7],"Integral":[8],"of":[9,12,29,58,112,121,134],"Sign":[11],"Error":[14],"(RISE)":[15],"is":[16,48,78],"proposed.":[17],"The":[18,56,75,88],"RISE":[19,46,130],"feedback":[20],"strategy":[21],"yields":[22],"semi-global":[23],"asymptotic":[24],"tracking":[25,43,69,135],"despite":[26],"presence":[28],"unstructured":[30],"additive":[31],"disturbances":[32],"provided":[33],"some":[34],"limited":[35],"assumptions":[36],"system.":[39],"To":[40],"achieve":[41],"better":[42,119],"performance,":[44],"extended":[49],"with":[50],"a":[51,82,95,118],"model-based":[52],"feedforward":[54,60],"term.":[55],"addition":[57],"term":[61],"compensates":[62],"for":[63],"structured":[65],"uncertainties":[66],"yielding":[67],"reduced":[68,72],"errors":[70],"and":[71,137],"control":[73,90],"effort.":[74],"proposed":[76,123],"experimentally":[79],"implemented":[80],"3-DOFs":[83],"redundantly":[84],"actuated":[85],"parallel":[86],"manipulator.":[87,114],"computed":[89],"inputs":[91],"are":[92],"projected":[93],"using":[94],"kinematics":[96],"projector":[98],"in":[99,132],"order":[100],"to":[101,127],"remove":[102],"internal":[104],"efforts":[105],"that":[106],"may":[107],"damage":[108],"mechanical":[110],"structure":[111],"Experimental":[115],"results":[116],"show":[117],"performance":[120],"compared":[126],"basic":[129],"terms":[133],"accuracy":[136],"energy":[138],"consumption.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}