{"id":"https://openalex.org/W2111118479","doi":"https://doi.org/10.1109/robot.2003.1241797","title":"Globally adaptive decentralized control of time-varying robot manipulators","display_name":"Globally adaptive decentralized control of time-varying robot manipulators","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2111118479","doi":"https://doi.org/10.1109/robot.2003.1241797","mag":"2111118479"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5015990125","display_name":"Su-Hau Hsu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Su-Hau Hsu","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Li-Chen Fu","raw_affiliation_strings":["Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan","Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015990125"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":1.6189,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.85951176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"23","issue":null,"first_page":"1458","last_page":"1463 vol.1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.988099992275238,"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":0.782390832901001},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6354955434799194},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5958414673805237},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5836967825889587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5720283389091492},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5659358501434326},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5331031084060669},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5050249695777893},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.493493914604187},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49327415227890015},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.45988237857818604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4445902109146118},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4170711636543274},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3753041625022888},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2476256787776947},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16516384482383728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1471516191959381},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08737686276435852}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.782390832901001},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6354955434799194},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5958414673805237},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5836967825889587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720283389091492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5659358501434326},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5331031084060669},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5050249695777893},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.493493914604187},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49327415227890015},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.45988237857818604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4445902109146118},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4170711636543274},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3753041625022888},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2476256787776947},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16516384482383728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1471516191959381},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08737686276435852},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1241797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:140.112.114.62:246246/2007041910042888","is_oa":false,"landing_page_url":"http://ntur.lib.ntu.edu.tw//handle/246246/2007041910042888","pdf_url":null,"source":{"id":"https://openalex.org/S4306402491","display_name":"NTUR (\u81fa\u7063\u6a5f\u69cb\u5178\u85cf)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I16733864","host_organization_name":"National Taiwan University","host_organization_lineage":["https://openalex.org/I16733864"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1966730141","https://openalex.org/W1981174120","https://openalex.org/W2006103574","https://openalex.org/W2031077537","https://openalex.org/W2083483041","https://openalex.org/W2108326843","https://openalex.org/W2131750416","https://openalex.org/W2147839177","https://openalex.org/W2148178391","https://openalex.org/W2164597015","https://openalex.org/W2166831132","https://openalex.org/W4238000550"],"related_works":["https://openalex.org/W2567520115","https://openalex.org/W1545539801","https://openalex.org/W2567391447","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W2344226335","https://openalex.org/W4280596088","https://openalex.org/W1862849712","https://openalex.org/W1966075561","https://openalex.org/W2055801945"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"develop":[4],"a":[5,27,82,101],"globally":[6],"adaptive":[7,22,69,76],"decentralized":[8,28],"control":[9,23,70],"scheme":[10],"of":[11,39,43,57,66,94,104,111,122,134],"time-varying":[12,41],"robot":[13,45],"manipulators":[14,59],"for":[15,35],"trajectory":[16],"tracking":[17,55,106],"control.":[18],"Since":[19],"the":[20,40,44,51,58,67,75,92,95,99,105,113,132,135],"proposed":[21,68,136],"law":[24,77],"is":[25,33,88],"in":[26,91,128],"manner,":[29],"only":[30],"low-cost":[31],"hardware":[32],"required":[34],"implementation.":[36],"Furthermore,":[37],"even":[38],"parameters":[42],"manipulator":[46,96],"change":[47],"arbitrarily":[48],"fast,":[49],"both":[50],"position":[52],"and":[53],"velocity":[54],"errors":[56,107],"will":[60],"converge":[61],"to":[62,130,146],"zero":[63],"after":[64],"employment":[65],"law.":[71],"For":[72],"practical":[73],"implementation,":[74],"can":[78,115],"be":[79,116,147],"combined":[80],"with":[81],"leakage":[83],"term":[84],"so":[85],"that":[86],"there":[87],"no":[89],"chattering":[90],"motion":[93],"but":[97],"at":[98],"price":[100],"residual":[102],"set":[103],"as":[108],"mentioned":[109],"above,":[110],"which":[112,143],"size":[114],"however":[117],"made":[118],"smaller":[119],"by":[120],"use":[121],"some":[123],"larger":[124],"design":[125],"parameters.":[126],"Finally,":[127],"order":[129],"illustrate":[131],"performance":[133],"scheme,":[137],"simulation":[138],"results":[139],"are":[140],"also":[141],"provided,":[142],"turn":[144],"out":[145],"quite":[148],"satisfactory.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}