{"id":"https://openalex.org/W2107736322","doi":"https://doi.org/10.1109/robot.1987.1087960","title":"A multilayer approach to control of a flexible arm","display_name":"A multilayer approach to control of a flexible arm","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2107736322","doi":"https://doi.org/10.1109/robot.1987.1087960","mag":"2107736322"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087960","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":"conference-paper","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/A5023725622","display_name":"Giuseppe De Maria","orcid":"https://orcid.org/0000-0001-6475-8572"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. De Maria","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universita di Napoli, Napoli, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universita di Napoli, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"B. Siciliano","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universita di Napoli, Napoli, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universita di Napoli, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I71267560"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.25889077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"774","last_page":"778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.998199999332428,"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/T12435","display_name":"Bladed Disk Vibration Dynamics","score":0.9764000177383423,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6893962621688843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6357252597808838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6343672275543213},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6066213250160217},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6002377867698669},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5932972431182861},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5147435665130615},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5080021023750305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47573137283325195},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4508100748062134},{"id":"https://openalex.org/keywords/distinctive-feature","display_name":"Distinctive feature","score":0.4184474050998688},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41509169340133667},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34997910261154175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22643834352493286},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16944575309753418},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1347924768924713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12727290391921997},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1215200126171112},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.11438357830047607}],"concepts":[{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6893962621688843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6357252597808838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6343672275543213},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6066213250160217},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6002377867698669},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5932972431182861},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5147435665130615},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5080021023750305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47573137283325195},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4508100748062134},{"id":"https://openalex.org/C2778744346","wikidata":"https://www.wikidata.org/wiki/Q1152224","display_name":"Distinctive feature","level":2,"score":0.4184474050998688},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41509169340133667},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34997910261154175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22643834352493286},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16944575309753418},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1347924768924713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12727290391921997},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1215200126171112},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.11438357830047607},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/robot.1987.1087960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087960","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1006261305","https://openalex.org/W1535290418","https://openalex.org/W2087965269","https://openalex.org/W2106456658","https://openalex.org/W2132751173","https://openalex.org/W2150549237","https://openalex.org/W2586068922","https://openalex.org/W2590658968","https://openalex.org/W6626323653","https://openalex.org/W6676009919","https://openalex.org/W6733289768","https://openalex.org/W6734047754"],"related_works":["https://openalex.org/W2786766270","https://openalex.org/W1972823365","https://openalex.org/W4226264990","https://openalex.org/W2377903124","https://openalex.org/W2012890691","https://openalex.org/W1508692582","https://openalex.org/W2006179758","https://openalex.org/W2808353679","https://openalex.org/W580425908","https://openalex.org/W2018851823"],"abstract_inverted_index":{"The":[0,12,33],"control":[1,53,61],"of":[2,9,27,36,71],"a":[3,23,59,69],"flexible":[4],"arm":[5],"is":[6,15,30,39,55,62,90],"the":[7,28,65,79,83],"focus":[8],"this":[10,37],"work.":[11],"dynamic":[13],"model":[14,26,38],"obtained":[16],"via":[17],"an":[18],"assumed":[19,49],"mode":[20],"method,":[21],"and":[22,94],"singularly":[24],"perturbed":[25],"system":[29],"then":[31,56,68],"derived.":[32],"new":[34],"feature":[35],"that":[40],"multiple":[41],"boundary":[42],"layers":[43,84],"are":[44,97],"considered,":[45],"one":[46],"for":[47,64,75],"each":[48,76],"mode.":[50],"A":[51,87],"composite":[52],"strategy":[54],"pursued.":[57],"First":[58],"slow":[60],"designed":[63],"rigid":[66],"system,":[67],"number":[70],"fast":[72,80],"controls":[73],"(one":[74],"layer)":[77],"make":[78],"dynamics":[81],"in":[82],"suitably":[85],"damped.":[86],"case":[88],"study":[89],"finally":[91],"worked":[92],"out":[93],"simulation":[95],"results":[96],"presented.":[98]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}