{"id":"https://openalex.org/W3131144775","doi":"https://doi.org/10.1109/lra.2021.3061064","title":"Multi-State Modelling and Observation of Magneto-Rheological Clutch With Rate-Dependent Hysteresis Characteristic","display_name":"Multi-State Modelling and Observation of Magneto-Rheological Clutch With Rate-Dependent Hysteresis Characteristic","publication_year":2021,"publication_date":"2021-02-22","ids":{"openalex":"https://openalex.org/W3131144775","doi":"https://doi.org/10.1109/lra.2021.3061064","mag":"3131144775"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061064","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5016878111","display_name":"Guangzeng Chen","orcid":"https://orcid.org/0000-0001-6873-747X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangzeng Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6873-747X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038784686","display_name":"Xiaogang Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Xiong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6469-5281","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8203-7795","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016878111"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.6749,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65829332,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":"2","first_page":"2445","last_page":"2452"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9962000250816345,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9957000017166138,"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":0.7520828247070312},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6975209712982178},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6372706890106201},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.551372766494751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5113053321838379},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.4396498501300812},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.42466360330581665},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.4144282639026642},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21151715517044067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16247150301933289},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15589696168899536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1283555030822754},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11957600712776184},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06818181276321411}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7520828247070312},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6975209712982178},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6372706890106201},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.551372766494751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5113053321838379},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.4396498501300812},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.42466360330581665},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.4144282639026642},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21151715517044067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16247150301933289},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15589696168899536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1283555030822754},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11957600712776184},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06818181276321411},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3061064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061064","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8307438544","display_name":null,"funder_award_id":"11702073","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1963788254","https://openalex.org/W1986658796","https://openalex.org/W1995922450","https://openalex.org/W1997739615","https://openalex.org/W2003880081","https://openalex.org/W2011002453","https://openalex.org/W2019541662","https://openalex.org/W2023401698","https://openalex.org/W2031861379","https://openalex.org/W2051629260","https://openalex.org/W2062834669","https://openalex.org/W2065252202","https://openalex.org/W2085960888","https://openalex.org/W2100720865","https://openalex.org/W2145170645","https://openalex.org/W2159161641","https://openalex.org/W2163337071","https://openalex.org/W2345287054","https://openalex.org/W2523959661","https://openalex.org/W2601547440","https://openalex.org/W2742757051","https://openalex.org/W2794370031","https://openalex.org/W2883043375","https://openalex.org/W2897783933","https://openalex.org/W2898929370","https://openalex.org/W2960523019","https://openalex.org/W2985488266","https://openalex.org/W2994037195","https://openalex.org/W3085655753"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W104615690","https://openalex.org/W3168655051","https://openalex.org/W4389304962","https://openalex.org/W2088888306","https://openalex.org/W2336246353","https://openalex.org/W2076295474"],"abstract_inverted_index":{"Magneto-rheological":[0],"clutches":[1],"(MRCs)":[2],"are":[3,122],"potential":[4],"for":[5,110],"providing":[6],"jointed":[7],"robots":[8],"with":[9],"the":[10,18,26,52,68,75,91,97,103,111,116,119,129,135],"capability":[11],"of":[12,21,63,106,118,134],"behaving":[13],"compliantly.":[14],"However,":[15],"due":[16],"to":[17,67,72,95],"nonlinear":[19],"dynamics":[20],"rate-dependent":[22,54,64],"hysteresis":[23,55,65],"exhibited":[24],"by":[25,44,108],"MRC,":[27],"precisely":[28],"controlling":[29],"its":[30],"behaviors":[31],"is":[32],"still":[33],"cumbersome.":[34],"This":[35],"paper":[36,82],"firstly":[37],"proposes":[38],"a":[39,84],"multi-state":[40],"MRC":[41,107,120],"model":[42,58,98,112,121],"described":[43],"multiple":[45],"ordinary":[46],"differential":[47],"equations":[48],"(ODEs)":[49],"that":[50],"captures":[51],"complicated":[53],"phenomenon.":[56],"The":[57],"offers":[59],"better":[60],"estimation":[61,132],"accuracy":[62,133],"compared":[66],"Bouc-Wen":[69],"model.":[70],"Then,":[71],"further":[73],"improve":[74],"modelling":[76],"performance":[77],"in":[78],"various":[79],"inputs,":[80],"this":[81],"designs":[83],"robust":[85],"and":[86,126,131],"exact":[87],"observer":[88],"based":[89],"on":[90],"super-twisting":[92],"algorithm":[93],"(STA)":[94],"compensate":[96],"uncertainties.":[99],"It":[100],"exactly":[101],"estimates":[102],"output":[104],"torque":[105],"compensating":[109],"uncertainties,":[113],"even":[114],"when":[115],"parameters":[117],"not":[123],"optimized.":[124],"Comparisons":[125],"experiments":[127],"demonstrate":[128],"robustness":[130],"STA":[136],"observer.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
