{"id":"https://openalex.org/W2149096107","doi":"https://doi.org/10.1109/robot.2004.1302429","title":"Nonlinear friction compensation and disturbance observer for a high-speed motion platform","display_name":"Nonlinear friction compensation and disturbance observer for a high-speed motion platform","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2149096107","doi":"https://doi.org/10.1109/robot.2004.1302429","mag":"2149096107"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5092272555","display_name":"Ying Wang","orcid":"https://orcid.org/0000-0002-2810-6136"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Wang","raw_affiliation_strings":["Robotics Institute, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["Robotics Institute, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057513904","display_name":"Han Ding","orcid":"https://orcid.org/0000-0003-2905-6369"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["Robotics Institute, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102708776","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4642-6819"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["Robotics Institute, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092272555"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.8692,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.81553304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4515","last_page":"4520 Vol.5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control 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/T11749","display_name":"Iterative Learning Control 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/T13644","display_name":"Control Systems in Engineering","score":0.9994000196456909,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9987000226974487,"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":0.9191309213638306},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6998751759529114},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6834591031074524},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6810410022735596},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5759092569351196},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.545888364315033},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5063203573226929},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46694982051849365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4532020688056946},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43003445863723755},{"id":"https://openalex.org/keywords/feedback-controller","display_name":"Feedback controller","score":0.42972639203071594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32751476764678955},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15399307012557983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11583676934242249},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10653352737426758},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.05481833219528198}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9191309213638306},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6998751759529114},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6834591031074524},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6810410022735596},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5759092569351196},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.545888364315033},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5063203573226929},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46694982051849365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4532020688056946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43003445863723755},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.42972639203071594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32751476764678955},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15399307012557983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11583676934242249},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10653352737426758},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.05481833219528198},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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.2004.1302429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W1607191588","https://openalex.org/W1824536915","https://openalex.org/W1966604600","https://openalex.org/W2002496731","https://openalex.org/W2064388863","https://openalex.org/W2070613209","https://openalex.org/W2073763846","https://openalex.org/W2091881639","https://openalex.org/W2125994875","https://openalex.org/W2147374670","https://openalex.org/W2148855336","https://openalex.org/W2166271005","https://openalex.org/W2329956787","https://openalex.org/W3146794884","https://openalex.org/W6668559947"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2145922707","https://openalex.org/W1524683553","https://openalex.org/W2810725684","https://openalex.org/W2137525473","https://openalex.org/W4200410877","https://openalex.org/W2008330857","https://openalex.org/W1597511206","https://openalex.org/W2051194031"],"abstract_inverted_index":{"Nonlinear":[0],"friction":[1,47,54,75],"and":[2,49,61,78,92],"external":[3,80],"disturbances":[4],"affect":[5],"the":[6,74,86,97],"positioning":[7,90],"accuracy":[8,91],"of":[9,99],"high-speed":[10],"motion":[11],"systems,":[12],"especially":[13],"impelled":[14],"by":[15],"linear":[16],"motor.":[17],"Thus,":[18],"how":[19],"to":[20,72],"eliminate":[21,73],"theses":[22],"disturbance":[23,51,68],"should":[24],"be":[25],"considered":[26],"when":[27],"designing":[28],"a":[29,35,41,46,50],"robust":[30,94],"controller.":[31],"This":[32],"paper":[33],"presents":[34],"controller,":[36,45],"which":[37],"includes":[38],"three":[39],"parts:":[40],"proportional-plus-derivative":[42],"(PD)":[43],"feedback":[44],"compensator,":[48],"observer.":[52],"The":[53,67],"compensator":[55],"is":[56,70],"based":[57],"on":[58],"LuGre":[59],"model":[60],"it":[62],"compensates":[63],"for":[64],"nonlinear":[65],"friction.":[66],"observer":[69],"used":[71],"compensation":[76],"error":[77],"other":[79],"disturbances.":[81,100],"Experimental":[82],"results":[83],"show":[84],"that":[85],"controller":[87],"gives":[88],"high":[89],"more":[93],"performance":[95],"in":[96],"presence":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
