{"id":"https://openalex.org/W2115719802","doi":"https://doi.org/10.1109/robot.1990.126223","title":"A new adaptive learning rule","display_name":"A new adaptive learning rule","publication_year":2002,"publication_date":"2002-12-04","ids":{"openalex":"https://openalex.org/W2115719802","doi":"https://doi.org/10.1109/robot.1990.126223","mag":"2115719802"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1990.126223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., 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/A5108521529","display_name":"W. Messner","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":true,"raw_author_name":"W. Messner","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","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":false,"raw_author_name":"R. Horowitz","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109216117","display_name":"W.-W. Kao","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":"W.-W. Kao","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040301967","display_name":"M. Boals","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. Boals","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108521529"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":8.8479,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97972559,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1522","last_page":"1527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control 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/T11749","display_name":"Iterative Learning Control 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9793000221252441,"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":0.9318000078201294,"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/control-theory","display_name":"Control theory (sociology)","score":0.6517772674560547},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.6376021504402161},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6170014142990112},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5820032358169556},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5292149186134338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260710120201111},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.5256370306015015},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4354987144470215},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4338821470737457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3963722884654999},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32277610898017883},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2928391396999359},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06618010997772217}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6517772674560547},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.6376021504402161},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6170014142990112},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5820032358169556},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5292149186134338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260710120201111},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.5256370306015015},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4354987144470215},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4338821470737457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3963722884654999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32277610898017883},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2928391396999359},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06618010997772217},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1990.126223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., 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":16,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W1515926482","https://openalex.org/W1516855539","https://openalex.org/W1845648924","https://openalex.org/W1846472357","https://openalex.org/W1946771514","https://openalex.org/W2026670990","https://openalex.org/W2033073847","https://openalex.org/W2083483041","https://openalex.org/W2089070007","https://openalex.org/W2106113194","https://openalex.org/W2122041352","https://openalex.org/W2157577511","https://openalex.org/W2165878769","https://openalex.org/W2569641373","https://openalex.org/W2610796673"],"related_works":["https://openalex.org/W2062195135","https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2795079307","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"A":[0],"method":[1,84],"for":[2,22,49],"nonlinear":[3,24,28],"function":[4,30,40,65,70],"identification":[5],"and":[6,20,95,113],"its":[7],"application":[8],"to":[9,18,87],"learning":[10,59,109],"control":[11,15,90],"are":[12,56],"presented.":[13],"The":[14,27,58,83],"objective":[16],"is":[17,31,73,85,110],"identify":[19],"compensate":[21],"a":[23,37,54,116],"disturbance":[25,29,80],"function.":[26,46],"represented":[32],"as":[33],"an":[34,43,68],"integral":[35],"of":[36,52,91],"predefined":[38],"kernel":[39],"multiplied":[41],"by":[42,66],"unknown":[44,64],"influence":[45,69],"Sufficient":[47],"conditions":[48],"the":[50,63,76,79,88,101,107],"existence":[51],"such":[53],"representation":[55],"provided.":[57],"rule":[60],"indirectly":[61],"estimates":[62],"updating":[67],"estimate.":[71],"It":[72],"shown":[74],"that":[75,106],"controller":[77],"achieves":[78],"cancellation":[81],"asymptotically.":[82],"extended":[86],"repetitive":[89,121],"robot":[92,103],"manipulators.":[93],"Simulation":[94],"actual":[96],"real-time":[97],"implementation":[98],"results":[99],"using":[100],"Berkeley/NSK":[102],"arm":[104],"show":[105],"proposed":[108],"more":[111],"robust":[112],"converges":[114],"at":[115],"faster":[117],"rate":[118],"than":[119],"conventional":[120],"controllers.<":[122],"<ETX":[123],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
