{"id":"https://openalex.org/W2118204574","doi":"https://doi.org/10.1109/robot.1987.1087880","title":"Model reference adaptive control of a two axis direct drive manipulator arm","display_name":"Model reference adaptive control of a two axis direct drive manipulator arm","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2118204574","doi":"https://doi.org/10.1109/robot.1987.1087880","mag":"2118204574"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087880","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/A5002745879","display_name":"Roberto Horowitz","orcid":"https://orcid.org/0000-0003-2807-0054"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Horowitz","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007136538","display_name":"Ming\u2010Chang Tsai","orcid":"https://orcid.org/0000-0002-3338-3306"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming-Chang Tsai","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059299504","display_name":"G. Anwar","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Anwar","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027360189","display_name":"M. Tomizuka","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002745879"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.958,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.81417132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"1216","last_page":"1222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9987999796867371,"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":0.9987999796867371,"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/T13644","display_name":"Control Systems in Engineering","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"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":0.8851169347763062},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6983786821365356},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6802277565002441},{"id":"https://openalex.org/keywords/reference-model","display_name":"Reference model","score":0.6176928281784058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.557523250579834},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5538403987884521},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49689438939094543},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4858395755290985},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4479654133319855},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.43134018778800964},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42880022525787354},{"id":"https://openalex.org/keywords/digital-control","display_name":"Digital control","score":0.42138347029685974},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4125273823738098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23133209347724915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1819342076778412},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15032261610031128},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.13818973302841187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10260474681854248}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8851169347763062},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6983786821365356},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6802277565002441},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.6176928281784058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.557523250579834},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5538403987884521},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49689438939094543},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4858395755290985},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4479654133319855},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.43134018778800964},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42880022525787354},{"id":"https://openalex.org/C158411068","wikidata":"https://www.wikidata.org/wiki/Q2720568","display_name":"Digital control","level":2,"score":0.42138347029685974},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4125273823738098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23133209347724915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1819342076778412},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15032261610031128},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.13818973302841187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10260474681854248},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087880","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":[{"score":0.6000000238418579,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W12112782","https://openalex.org/W1570023101","https://openalex.org/W1606223377","https://openalex.org/W1946771514","https://openalex.org/W1964956827","https://openalex.org/W1979554781","https://openalex.org/W2002165313","https://openalex.org/W2003573663","https://openalex.org/W2006813793","https://openalex.org/W2015009070","https://openalex.org/W2026769037","https://openalex.org/W2120512179","https://openalex.org/W2148104278","https://openalex.org/W2166364148","https://openalex.org/W3186362123","https://openalex.org/W6636127808"],"related_works":["https://openalex.org/W2901382198","https://openalex.org/W2109400456","https://openalex.org/W27887875","https://openalex.org/W4289256535","https://openalex.org/W2109158473","https://openalex.org/W4285539993","https://openalex.org/W2147485651","https://openalex.org/W2774292953","https://openalex.org/W3028734724","https://openalex.org/W2095201550"],"abstract_inverted_index":{"The":[0,15,23,45,61,75,95],"model":[1,24,86],"reference":[2,25,85],"adaptive":[3,26,62,91,141],"control":[4],"of":[5,77,104,125,137],"a":[6,19,78,83,112,133],"two":[7,16],"axis":[8],"direct":[9],"drive":[10],"manipulator":[11,139],"arm":[12],"is":[13,28,53,87,118],"presented.":[14],"axes":[17],"exhibit":[18],"significant":[20],"dynamic":[21,38],"interaction.":[22],"controller":[27,48,65,71],"utilized":[29],"in":[30,89,114],"the":[31,37,43,57,90,100,105,115,122,126,138],"velocity":[32,63,92],"loop":[33,47,64,70,93],"to":[34,41],"adaptively":[35],"decouple":[36],"interaction":[39],"and":[40,51,111,129],"linearize":[42],"dynamics.":[44,60],"outer":[46],"for":[49],"positioning":[50],"tracking":[52],"designed":[54],"based":[55],"on":[56],"linear":[58],"decoupled":[59],"as":[66,68,80,82],"well":[67,81],"position":[69],"are":[72,109],"implemented":[73],"digitally.":[74],"use":[76],"series-parallel,":[79],"parallel":[84],"suggested":[88],"controller.":[94],"stability":[96,124],"problems":[97],"arising":[98],"from":[99],"straightforward":[101],"digital":[102,116],"implementation":[103],"continuous":[106],"time":[107],"algorithm":[108,117],"analyzed":[110],"modification":[113],"introduced":[119],"which":[120],"guarantees":[121],"asymptotic":[123],"system.":[127],"Simulation":[128],"experimental":[130],"results":[131],"show":[132],"consistently":[134],"superior":[135],"performance":[136],"under":[140],"control.":[142]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}