{"id":"https://openalex.org/W2727221313","doi":"https://doi.org/10.1109/lcsys.2017.2723720","title":"Effects of Viscous Damping on Differential Flatness-Based Control for a Class of Under-Actuated Planar Manipulators","display_name":"Effects of Viscous Damping on Differential Flatness-Based Control for a Class of Under-Actuated Planar Manipulators","publication_year":2017,"publication_date":"2017-07-05","ids":{"openalex":"https://openalex.org/W2727221313","doi":"https://doi.org/10.1109/lcsys.2017.2723720","mag":"2727221313"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2017.2723720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2017.2723720","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5103015212","display_name":"Vivek Sangwan","orcid":"https://orcid.org/0000-0003-4610-0966"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vivek Sangwan","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, India"],"raw_orcid":"https://orcid.org/0000-0003-4610-0966","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K. Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7936,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73089992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":"1","first_page":"67","last_page":"72"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.998199999332428,"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":0.9979000091552734,"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/flatness","display_name":"Flatness (cosmology)","score":0.7583898305892944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7379104495048523},{"id":"https://openalex.org/keywords/dissipative-system","display_name":"Dissipative system","score":0.5920560956001282},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5210021138191223},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5168945789337158},{"id":"https://openalex.org/keywords/viscous-damping","display_name":"Viscous damping","score":0.4962833523750305},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4631935954093933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3473656475543976},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32800793647766113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27878743410110474},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21291974186897278},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.07747864723205566}],"concepts":[{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7583898305892944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7379104495048523},{"id":"https://openalex.org/C99692599","wikidata":"https://www.wikidata.org/wiki/Q596577","display_name":"Dissipative system","level":2,"score":0.5920560956001282},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5210021138191223},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5168945789337158},{"id":"https://openalex.org/C2989485891","wikidata":"https://www.wikidata.org/wiki/Q56291844","display_name":"Viscous damping","level":3,"score":0.4962833523750305},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4631935954093933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3473656475543976},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32800793647766113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27878743410110474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21291974186897278},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.07747864723205566},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2017.2723720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2017.2723720","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1793672027","https://openalex.org/W1976473169","https://openalex.org/W1984363493","https://openalex.org/W2004741125","https://openalex.org/W2013073424","https://openalex.org/W2017149087","https://openalex.org/W2018143046","https://openalex.org/W2019757530","https://openalex.org/W2059234421","https://openalex.org/W2086790315","https://openalex.org/W2091881639","https://openalex.org/W2150335084","https://openalex.org/W2164320381","https://openalex.org/W2169259862","https://openalex.org/W2169723076","https://openalex.org/W6638302273"],"related_works":["https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W2739518152","https://openalex.org/W4253072361","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W2883824284","https://openalex.org/W70498098","https://openalex.org/W4206766790","https://openalex.org/W2197910832"],"abstract_inverted_index":{"For":[0],"under-actuated":[1,48],"manipulators,":[2],"not":[3,164],"all":[4],"joint":[5,17],"trajectories":[6,18,33],"are":[7,135,149,224],"dynamically":[8],"feasible":[9,16,32],"and":[10,30,39,104,124,160],"it":[11],"is":[12,109,129,158,163,167],"difficult":[13],"to":[14,28,46,51],"characterize":[15],"analytically.":[19],"Differential":[20],"flatness,":[21],"if":[22],"applicable,":[23],"provides":[24],"a":[25,44,125,202,227],"systematic":[26],"approach":[27],"plan":[29],"control":[31,94,157,162,196],"for":[34,95,215],"such":[35],"systems.":[36],"Previously,":[37],"Agrawal":[38,103],"Sangwan":[40,105],"(2008)":[41],"have":[42,64,73],"formulated":[43],"methodology":[45,56],"design":[47],"planar":[49],"manipulators":[50,100],"be":[52,199],"differentially":[53,186],"flat.":[54],"This":[55,81],"assumed":[57],"that":[58,111,170],"the":[59,62,96,117,132,143,172,183,219],"joints":[60,72,90],"in":[61,106,112,152,208],"manipulator":[63],"no":[65,136],"dissipation.":[66],"In":[67],"real":[68],"systems,":[69],"however,":[70],"these":[71],"dissipative":[74],"effects":[75,84],"(viscous":[76],"damping,":[77,182],"coulomb":[78],"friction":[79],"etc.).":[80],"letter":[82],"studies":[83],"of":[85,98,114,142,175,191,205,210],"viscous":[86,115,181,211],"damping":[87,116],"at":[88],"unactuated":[89],"on":[91,218],"differential":[92],"flatness-based":[93],"class":[97],"underactuated":[99],"presented":[101,225],"by":[102],"2008.":[107],"It":[108,166],"shown":[110,169],"presence":[113,209],"original":[118,133,173],"flat":[119,138,187,192,206],"outputs":[120,134,176,207],"lose":[121,177],"relative":[122,178],"degree":[123,179],"stable":[126,144],"internal":[127,145],"dynamics":[128,146],"induced.":[130],"Hence,":[131,194],"longer":[137],"outputs.":[139,193],"However,":[140],"because":[141],"induced":[147],"they":[148],"still":[150,198],"useful":[151],"applications":[153],"where":[154],"only":[155],"output":[156],"needed":[159],"full-state":[161,195],"desired.":[165],"also":[168],"although":[171],"set":[174,190,204],"with":[180,188,201,226],"system":[184],"remains":[185],"another":[189],"can":[197],"performed":[200],"new":[203],"damping.":[212],"Simulation":[213],"results":[214],"controllers":[216],"based":[217],"two":[220],"scenarios":[221],"mentioned":[222],"above":[223],"3-DOF":[228],"manipulator.":[229]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}