{"id":"https://openalex.org/W1946771514","doi":"https://doi.org/10.1109/robot.1987.1087747","title":"Stability analysis of an adaptive controller for robotic manipulators","display_name":"Stability analysis of an adaptive controller for robotic manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W1946771514","doi":"https://doi.org/10.1109/robot.1987.1087747","mag":"1946771514"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/A5039658470","display_name":"Nader Sadegh","orcid":"https://orcid.org/0000-0003-1117-6311"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"N. Sadegh","raw_affiliation_strings":["Department of Machanical Engineering, Berkeley, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Machanical Engineering, Berkeley, CA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002745879","display_name":"Roberto Horowitz","orcid":"https://orcid.org/0000-0003-2807-0054"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Horowitz","raw_affiliation_strings":["Department of Machanical Engineering, Berkeley, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Machanical Engineering, Berkeley, CA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.6154,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.98370777,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":null,"first_page":"1223","last_page":"1229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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":0.8390518426895142},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.651563823223114},{"id":"https://openalex.org/keywords/bilinear-interpolation","display_name":"Bilinear interpolation","score":0.5933586955070496},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.580121636390686},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5503673553466797},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5231077671051025},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5057227611541748},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.500023603439331},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4809240996837616},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44532647728919983},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4244886338710785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4053882956504822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2953342795372009},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1952691376209259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1085284948348999},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10613855719566345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07113003730773926}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8390518426895142},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.651563823223114},{"id":"https://openalex.org/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.5933586955070496},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.580121636390686},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5503673553466797},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5231077671051025},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5057227611541748},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.500023603439331},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4809240996837616},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44532647728919983},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4244886338710785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4053882956504822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2953342795372009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1952691376209259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1085284948348999},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10613855719566345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07113003730773926},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W946721516","https://openalex.org/W1606223377","https://openalex.org/W1979554781","https://openalex.org/W1985893431","https://openalex.org/W1998439873","https://openalex.org/W2003573663","https://openalex.org/W2006512997","https://openalex.org/W2006813793","https://openalex.org/W2051560575","https://openalex.org/W2061955932","https://openalex.org/W2083483041","https://openalex.org/W2120512179","https://openalex.org/W2132560048","https://openalex.org/W2154547128","https://openalex.org/W2166364148","https://openalex.org/W2280458835","https://openalex.org/W2468145520","https://openalex.org/W2710641146","https://openalex.org/W3186362123","https://openalex.org/W4237905089","https://openalex.org/W6624693479","https://openalex.org/W6636127808","https://openalex.org/W6739963914","https://openalex.org/W6798906497"],"related_works":["https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W2344226335","https://openalex.org/W2139526495","https://openalex.org/W2055801945","https://openalex.org/W2148178391","https://openalex.org/W2146430632"],"abstract_inverted_index":{"The":[0,111],"stability":[1,26],"analysis":[2],"of":[3,42,74,93,102,106],"an":[4],"adaptive":[5,60,113],"control":[6,61,87,114],"scheme":[7,115],"for":[8],"robotic":[9],"manipulators,":[10],"originally":[11],"introduced":[12],"by":[13,54],"Horowitz":[14],"and":[15,96],"Tomizuka":[16],"(1980),":[17],"is":[18,36,45,116],"presented":[19],"in":[20,58,68,85],"this":[21,48],"paper.":[22],"In":[23],"the":[24,32,40,59,65,81,86,94,107],"previous":[25],"proof":[27],"it":[28],"was":[29],"assumed":[30],"that":[31,47],"manipulator":[33,95,108],"parameter":[34],"variation":[35],"negligible":[37],"compared":[38],"with":[39],"speed":[41],"adaptation.":[43],"It":[44],"shown":[46,117],"key":[49],"assumption":[50],"can":[51],"be":[52,119],"removed":[53],"introducing":[55],"two":[56],"modifications":[57],"scheme:":[62],"1.":[63],"Reparametrizing":[64],"nonlinear":[66],"terms":[67],"dynamic":[69],"equations":[70],"as":[71,89],"linear":[72],"functions":[73],"unknown":[75],"but":[76],"constant":[77],"terms.":[78],"2.":[79],"Defining":[80],"Coriolis":[82],"compensation":[83],"term":[84],"law":[88],"a":[90,103],"bilinear":[91],"function":[92,105],"model":[97],"reference":[98],"joint":[99,109],"velocities,":[100],"instead":[101],"quadratic":[104],"velocities.":[110],"modified":[112],"to":[118],"globally":[120],"asymptotically":[121],"stable.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
