{"id":"https://openalex.org/W4413104948","doi":"https://doi.org/10.1109/lra.2025.3597858","title":"Multiple-Input Multiple-Output Robust Control for Independent-Setup Variable Stiffness Actuator","display_name":"Multiple-Input Multiple-Output Robust Control for Independent-Setup Variable Stiffness Actuator","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413104948","doi":"https://doi.org/10.1109/lra.2025.3597858"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597858","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5000174342","display_name":"Lin Liu","orcid":"https://orcid.org/0000-0002-9968-4056"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Liu","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9968-4056","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guoyang Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyang Hong","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang Wang","orcid":"https://orcid.org/0000-0001-9038-8819"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9038-8819","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jianqing Peng","orcid":"https://orcid.org/0000-0002-9777-842X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqing Peng","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9777-842X","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China","Peng Cheng Laboratory, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081803281","display_name":"Chunjie Chen","orcid":"https://orcid.org/0000-0003-4855-9914"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunjie Chen","raw_affiliation_strings":["Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4855-9914","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063786172","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6130-7821","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5007,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62537606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"10","first_page":"10098","last_page":"10105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.986299991607666,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.986299991607666,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9704999923706055,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T13644","display_name":"Control Systems in Engineering","score":0.941100001335144,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6868664026260376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6514468789100647},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5701658725738525},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5663452744483948},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44322195649147034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39909717440605164},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33076709508895874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2758713364601135},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21940413117408752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12958449125289917},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08216807246208191}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6868664026260376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6514468789100647},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5701658725738525},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5663452744483948},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44322195649147034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39909717440605164},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33076709508895874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2758713364601135},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21940413117408752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12958449125289917},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08216807246208191}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3597858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597858","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/217363","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/217363","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G285976781","display_name":null,"funder_award_id":"62125307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5473348541","display_name":null,"funder_award_id":"2024A1515010540","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G7209544751","display_name":null,"funder_award_id":"2023QN10Y540","funder_id":"https://openalex.org/F4320324202","funder_display_name":"Guangdong Science and Technology Department"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324202","display_name":"Guangdong Science and Technology Department","ror":"https://ror.org/00tjzgn92"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1996385583","https://openalex.org/W1996869048","https://openalex.org/W2008844699","https://openalex.org/W2031711324","https://openalex.org/W2049268291","https://openalex.org/W2066722526","https://openalex.org/W2073136132","https://openalex.org/W2075233632","https://openalex.org/W2079405540","https://openalex.org/W2081233670","https://openalex.org/W2096003909","https://openalex.org/W2096589898","https://openalex.org/W2123285852","https://openalex.org/W2315934130","https://openalex.org/W2622373364","https://openalex.org/W2735479064","https://openalex.org/W2829123841","https://openalex.org/W2911464562","https://openalex.org/W3028314871","https://openalex.org/W3094234392","https://openalex.org/W3122470770","https://openalex.org/W4296914893","https://openalex.org/W4366992503","https://openalex.org/W4386131914","https://openalex.org/W4388506917","https://openalex.org/W4391326513","https://openalex.org/W4402475085","https://openalex.org/W6684863209"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W585100505","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373"],"abstract_inverted_index":{"This":[0,116],"paper":[1],"presents":[2],"the":[3,13,23,32,36,42,55,65,78,85,88,119,123,127,142,156],"development":[4],"of":[5,22,122,129,136,176],"a":[6,48,69,95,150],"multiple-input":[7],"multiple-output":[8],"(MIMO)":[9],"coupling":[10,34,98],"controller":[11,99,106,160],"for":[12],"independent-setup":[14,24],"variable":[15,187],"stiffness":[16,39,61,139],"actuator":[17,189],"(VSA).":[18],"The":[19,105,174],"dynamic":[20],"model":[21,43],"VSA":[25,172],"is":[26,107,147,180],"typically":[27],"considered":[28],"decoupled":[29],"due":[30],"to":[31,83,101,153],"slight":[33],"between":[35,87],"joint":[37,137],"and":[38,113,138],"actuation.":[40],"However,":[41],"can":[44,161],"be":[45,162],"formulated":[46],"in":[47,126,171],"coupled":[49],"manner":[50],"by":[51],"taking":[52],"into":[53],"account":[54],"various":[56],"uncertainties":[57],"arising":[58],"from":[59],"physical":[60],"variations.":[62],"To":[63],"describe":[64],"coupling,":[66],"we":[67,93],"present":[68],"linear":[70],"parameter-varying":[71],"(LPV)":[72],"model.":[73],"In":[74],"this":[75],"LPV":[76,114,159],"model,":[77],"time-varying":[79,130],"parameters":[80],"are":[81],"defined":[82],"capture":[84],"interaction":[86],"two":[89],"actuation":[90],"components.":[91],"Then,":[92],"introduce":[94],"robust":[96],"MIMO":[97],"designed":[100],"ensure":[102],"reliable":[103],"operation.":[104],"synthesized":[108],"using":[109],"the$H_{\\infty":[110],"}$mixed-sensitivity":[111],"loop-shaping":[112],"technique.":[115],"synthesis":[117],"ensures":[118],"quadratic":[120],"stability":[121],"closed-loop":[124],"system":[125],"presence":[128],"parameters,":[131],"along":[132],"with":[133,164],"effective":[134],"tracking":[135],"trajectories.":[140],"Additionally,":[141],"generalized":[143],"extended":[144],"state":[145],"observer":[146],"employed":[148],"as":[149],"design":[151],"paradigm":[152],"verify":[154],"whether":[155],"proposed":[157],"baseline":[158],"integrated":[163],"other":[165],"advanced":[166],"control":[167,178],"strategies":[168],"previously":[169],"explored":[170],"control.":[173],"effectiveness":[175],"all":[177],"schemes":[179],"experimentally":[181],"validated":[182],"on":[183],"an":[184],"updated":[185],"mechanical-rotary":[186],"impedance":[188],"prototype.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
