{"id":"https://openalex.org/W3004038810","doi":"https://doi.org/10.1109/iros40897.2019.8970476","title":"Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control","display_name":"Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004038810","doi":"https://doi.org/10.1109/iros40897.2019.8970476","mag":"3004038810"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8970476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8970476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/92783/1/Lu_Adaptive_Unscented_Kalman.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017071421","display_name":"Peng Lu","orcid":"https://orcid.org/0000-0001-5611-4902"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]},{"id":"https://openalex.org/I4210133467","display_name":"Xi'an Aeronautical University","ror":"https://ror.org/03qn8zy63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210133467"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Peng Lu","raw_affiliation_strings":["Hong Kong Polytechnic University, HKSAR,Interdisciplinary Division of Aeronautical and Aviation Engineering,China","Interdisciplinary Division of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, HKSAR, China"],"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University, HKSAR,Interdisciplinary Division of Aeronautical and Aviation Engineering,China","institution_ids":["https://openalex.org/I4210133467"]},{"raw_affiliation_string":"Interdisciplinary Division of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, HKSAR, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046693109","display_name":"Timothy Sandy","orcid":"https://orcid.org/0000-0002-6777-0857"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Timothy Sandy","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich,Agile &#x0026; Dexterous Robotics Lab,Switzerland","Agile & Dexterous Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich,Agile &#x0026; Dexterous Robotics Lab,Switzerland","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich,Agile &#x0026; Dexterous Robotics Lab,Switzerland","Agile & Dexterous Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich,Agile &#x0026; Dexterous Robotics Lab,Switzerland","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017071421"],"corresponding_institution_ids":["https://openalex.org/I14243506","https://openalex.org/I4210133467"],"apc_list":null,"apc_paid":null,"fwci":0.4433,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.63529635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4365","last_page":"4372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9988999962806702,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9987000226974487,"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":0.8182214498519897},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.732768177986145},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6142417192459106},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6116721630096436},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5907208919525146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5861617922782898},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.568343997001648},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5420284271240234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5144524574279785},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4682373106479645},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45073381066322327},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.44466298818588257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2668025493621826},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24004733562469482},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21914801001548767},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16508221626281738},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.11637929081916809}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8182214498519897},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.732768177986145},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6142417192459106},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6116721630096436},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5907208919525146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5861617922782898},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.568343997001648},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5420284271240234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5144524574279785},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4682373106479645},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45073381066322327},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.44466298818588257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2668025493621826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24004733562469482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21914801001548767},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16508221626281738},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.11637929081916809},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8970476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8970476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/92783","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/92783","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/92783/1/Lu_Adaptive_Unscented_Kalman.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/92783","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/92783","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/92783/1/Lu_Adaptive_Unscented_Kalman.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1511995000","display_name":null,"funder_award_id":"Professorship","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004038810.pdf","grobid_xml":"https://content.openalex.org/works/W3004038810.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1487127700","https://openalex.org/W1555601014","https://openalex.org/W1597173708","https://openalex.org/W1990042683","https://openalex.org/W1990851787","https://openalex.org/W2027878288","https://openalex.org/W2033951865","https://openalex.org/W2080184275","https://openalex.org/W2083483041","https://openalex.org/W2099544223","https://openalex.org/W2111904757","https://openalex.org/W2112474089","https://openalex.org/W2123487311","https://openalex.org/W2150317946","https://openalex.org/W2164032318","https://openalex.org/W2167808181","https://openalex.org/W2167856595","https://openalex.org/W2188422583","https://openalex.org/W2323447981","https://openalex.org/W2329360430","https://openalex.org/W2410639023","https://openalex.org/W2461017019","https://openalex.org/W2523980053","https://openalex.org/W2590305599","https://openalex.org/W2887054048","https://openalex.org/W4238110342","https://openalex.org/W4241649586","https://openalex.org/W6671084986","https://openalex.org/W6823269322"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W4379015268","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2900391131"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28],"novel":[4,29],"nonlinear":[5,79],"disturbance":[6,19,61],"rejection":[7,20],"approach":[8,101,127],"for":[9,59],"high":[10,104],"precision":[11,105],"model-based":[12,66],"control":[13,67],"of":[14,24,72,120],"hydraulic":[15],"robots.":[16],"While":[17],"most":[18,65,113],"approaches":[21,68,133],"make":[22],"use":[23],"observers,":[25],"we":[26,96],"propose":[27],"adaptive":[30,47],"Unscented":[31],"Kalman":[32],"Filter":[33],"to":[34,54,112,131],"estimate":[35],"the":[36,56,60,70,73,118],"disturbances":[37],"in":[38,117],"an":[39],"unbiased":[40],"minimum-variance":[41],"sense.":[42],"The":[43,125],"filter":[44],"is":[45,51,78,85,128],"made":[46],"such":[48],"that":[49,82,98],"there":[50],"no":[52,83],"need":[53],"tune":[55],"covariance":[57],"matrix":[58],"estimation.":[62],"Furthermore,":[63],"whereas":[64],"require":[69],"linearization":[71,84],"system":[74],"dynamics,":[75],"our":[76,99],"method":[77],"which":[80,134],"means":[81],"required.":[86],"Through":[87],"extensive":[88],"simulations":[89],"as":[90,92],"well":[91],"real":[93],"hardware":[94],"experiments,":[95],"demonstrate":[97],"proposed":[100,126],"can":[102,108],"achieve":[103],"tracking":[106,138],"and":[107,122],"be":[109],"readily":[110],"applied":[111],"robotic":[114],"systems":[115],"even":[116],"presence":[119],"uncertainties":[121],"external":[123],"disturbances.":[124],"also":[129],"compared":[130],"existing":[132],"demonstrates":[135],"its":[136],"superior":[137],"performance.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
