{"id":"https://openalex.org/W4289792790","doi":"https://doi.org/10.1109/lcsys.2022.3196432","title":"Reduced-Order Observer Design for Robot Manipulators","display_name":"Reduced-Order Observer Design for Robot Manipulators","publication_year":2022,"publication_date":"2022-08-04","ids":{"openalex":"https://openalex.org/W4289792790","doi":"https://doi.org/10.1109/lcsys.2022.3196432"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3196432","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3196432","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9828546/09849836.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7782633/9828546/09849836.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011482531","display_name":"Andrea Cristofaro","orcid":"https://orcid.org/0000-0002-0757-2912"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Cristofaro","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049914116","display_name":"Alessandro De Luca","orcid":"https://orcid.org/0000-0002-0713-5608"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro De Luca","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5011482531"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.6073,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.65682138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"520","last_page":"525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9966999888420105,"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":0.8326884508132935},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7944239377975464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5699342489242554},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5487417578697205},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5474231839179993},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5398295521736145},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49466750025749207},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.43729543685913086},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40090006589889526},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25764429569244385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17778202891349792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16329747438430786},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0504610538482666},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05003228783607483}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8326884508132935},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7944239377975464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5699342489242554},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5487417578697205},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5474231839179993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5398295521736145},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49466750025749207},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.43729543685913086},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40090006589889526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25764429569244385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17778202891349792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16329747438430786},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0504610538482666},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05003228783607483},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2022.3196432","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3196432","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9828546/09849836.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1652311","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1652311","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1652311/4/Cristofaro_Reduced-Order_2023.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lcsys.2022.3196432","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3196432","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9828546/09849836.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4289792790.pdf","grobid_xml":"https://content.openalex.org/works/W4289792790.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W106834104","https://openalex.org/W1971397926","https://openalex.org/W2002818780","https://openalex.org/W2054127377","https://openalex.org/W2088936270","https://openalex.org/W2103095193","https://openalex.org/W2113265921","https://openalex.org/W2126022731","https://openalex.org/W2131292439","https://openalex.org/W2137371449","https://openalex.org/W2154513594","https://openalex.org/W2160008631","https://openalex.org/W2496713483","https://openalex.org/W2796948685","https://openalex.org/W3138616321","https://openalex.org/W4248540103","https://openalex.org/W4255043376"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2315418312","https://openalex.org/W2544838361","https://openalex.org/W2501264310","https://openalex.org/W2113447317","https://openalex.org/W4205434950","https://openalex.org/W2111927334","https://openalex.org/W4378174414","https://openalex.org/W2321543323","https://openalex.org/W2724327981"],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"the":[3,33,42,50,69,72,82],"design":[4],"of":[5,41,71,84],"reduced-order":[6,73],"observers":[7],"for":[8,55],"robot":[9,43],"manipulators.":[10],"Observer":[11],"stability":[12],"conditions":[13],"are":[14],"obtained":[15],"based":[16],"on":[17],"a":[18,27,79,85],"Lyapunov":[19],"analysis.":[20],"The":[21],"proposed":[22],"observer":[23,51,74],"is":[24],"enhanced":[25],"with":[26,37,81],"hybrid":[28,48],"scheme":[29],"that":[30],"may":[31],"adjust":[32],"gains":[34],"to":[35,46],"cope":[36],"possible":[38],"unbounded":[39],"velocities":[40],"joints.":[44],"Thanks":[45],"such":[47],"strategy,":[49],"works":[52],"accurately":[53],"both":[54],"robots":[56],"driven":[57],"by":[58,62],"open-loop":[59],"controllers":[60],"and":[61],"output":[63],"feedback":[64],"controllers.":[65],"Numerical":[66],"simulations":[67],"illustrate":[68],"efficacy":[70],"in":[75],"several":[76],"scenarios,":[77],"including":[78],"comparison":[80],"performance":[83],"classical":[86],"full-order":[87],"observer.":[88]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}