{"id":"https://openalex.org/W4409762939","doi":"https://doi.org/10.1109/lra.2025.3564205","title":"Acceleration Measurement-Free Dissipative Disturbance Observer for Robotic Manipulators","display_name":"Acceleration Measurement-Free Dissipative Disturbance Observer for Robotic Manipulators","publication_year":2025,"publication_date":"2025-04-24","ids":{"openalex":"https://openalex.org/W4409762939","doi":"https://doi.org/10.1109/lra.2025.3564205"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3564205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564205","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":null,"display_name":"Seonwoo Kim","orcid":"https://orcid.org/0000-0002-0849-3546"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seonwoo Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0849-3546","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chanwoo Kim","orcid":"https://orcid.org/0000-0002-3217-8925"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chanwoo Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3217-8925","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086836475","display_name":"Yeonho Ko","orcid":"https://orcid.org/0000-0003-3740-6998"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeonho Ko","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-3740-6998","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109913070","display_name":"Dae Hie Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daehie Hong","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2773-2629","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":1.2819,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79963368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"5999","last_page":"6006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.8601999878883362,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.8601999878883362,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11749","display_name":"Iterative Learning Control Systems","score":0.8267999887466431,"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/dissipative-system","display_name":"Dissipative system","score":0.7517551183700562},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7437491416931152},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.7182865142822266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6616970300674438},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5158966779708862},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5135040879249573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4308476150035858},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3694474995136261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36637187004089355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3251316547393799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25788426399230957},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23541945219039917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21988096833229065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2154625654220581},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11305248737335205}],"concepts":[{"id":"https://openalex.org/C99692599","wikidata":"https://www.wikidata.org/wiki/Q596577","display_name":"Dissipative system","level":2,"score":0.7517551183700562},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7437491416931152},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7182865142822266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6616970300674438},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5158966779708862},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5135040879249573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4308476150035858},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3694474995136261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36637187004089355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3251316547393799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25788426399230957},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23541945219039917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21988096833229065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2154625654220581},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11305248737335205},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3564205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564205","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/G8605350666","display_name":null,"funder_award_id":"20SMIP-A157130-01","funder_id":"https://openalex.org/F4320322010","funder_display_name":"Ministry of Land, Infrastructure and Transport"}],"funders":[{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320324625","display_name":"Korea Agency for Infrastructure Technology Advancement","ror":"https://ror.org/00rxf7n07"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1972079066","https://openalex.org/W1990851787","https://openalex.org/W2016382724","https://openalex.org/W2095477585","https://openalex.org/W2132991926","https://openalex.org/W2136169200","https://openalex.org/W2150113304","https://openalex.org/W2167808181","https://openalex.org/W2182510773","https://openalex.org/W2216194947","https://openalex.org/W2246023205","https://openalex.org/W2299724360","https://openalex.org/W2467524089","https://openalex.org/W2507832450","https://openalex.org/W2752466400","https://openalex.org/W2796767072","https://openalex.org/W2802121951","https://openalex.org/W2887145159","https://openalex.org/W3138616321","https://openalex.org/W3183240622","https://openalex.org/W3208491841","https://openalex.org/W4205940851","https://openalex.org/W4210266580","https://openalex.org/W4224221644","https://openalex.org/W4226085950","https://openalex.org/W4226151180","https://openalex.org/W4319338682","https://openalex.org/W4365801600","https://openalex.org/W4379409060","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2371200319","https://openalex.org/W2367609594","https://openalex.org/W2350320737","https://openalex.org/W2391455523","https://openalex.org/W2739518152","https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2091416718","https://openalex.org/W2338222801","https://openalex.org/W4239476321"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"an":[5,80],"Acceleration":[6],"Measurement-Free":[7],"Dissipative":[8],"Disturbance":[9],"Observer":[10],"(AFDDO)":[11],"for":[12,51,71],"robotic":[13],"manipulators,":[14],"designed":[15],"to":[16,78,104],"estimate":[17],"external":[18],"disturbances":[19],"robustly":[20],"without":[21],"requiring":[22],"angular":[23],"acceleration":[24,81],"measurements":[25],"and":[26,38,58,74,91],"matrix":[27,45,72],"inversion.":[28],"By":[29],"leveraging":[30],"dissipativity":[31],"theory,":[32],"the":[33,66,69],"AFDDO":[34,67],"achieves":[35],"enhanced":[36],"robustness":[37],"stability":[39],"against":[40],"fast-varying":[41],"disturbances.":[42],"A":[43],"linear":[44],"inequality":[46],"(LMI)-based":[47],"approach":[48],"is":[49],"employed":[50],"observer":[52,61,86],"gain":[53],"tuning,":[54],"enabling":[55],"efficient":[56],"computation":[57],"control":[59],"of":[60],"bandwidth.":[62],"Unlike":[63],"conventional":[64],"methods,":[65],"eliminates":[68],"need":[70],"inversion":[73],"utilizes":[75],"generalized":[76],"momentum":[77],"maintain":[79],"measurement-free":[82],"condition.":[83],"The":[84],"proposed":[85],"was":[87],"validated":[88],"through":[89],"simulations":[90],"experiments":[92],"using":[93],"a":[94],"mini-hydraulic":[95],"excavator,":[96],"demonstrating":[97],"superior":[98],"performance":[99],"in":[100],"disturbance":[101,107],"estimation":[102],"compared":[103],"existing":[105],"nonlinear":[106],"observers.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}