{"id":"https://openalex.org/W1987843632","doi":"https://doi.org/10.1109/robot.2010.5509413","title":"Anti-windup design for trajectory tracking of a parallel robot - An holistic approach","display_name":"Anti-windup design for trajectory tracking of a parallel robot - An holistic approach","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1987843632","doi":"https://doi.org/10.1109/robot.2010.5509413","mag":"1987843632"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5077343263","display_name":"Frank Wobbe","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Frank Wobbe","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061237045","display_name":"Hung Nguyen","orcid":"https://orcid.org/0000-0001-9416-5137"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dang Hung Nguyen","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009036019","display_name":"Walter Schumacher","orcid":"https://orcid.org/0000-0003-3738-1815"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Walter Schumacher","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077343263"],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06319044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"4001","last_page":"4008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9976999759674072,"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":0.9965000152587891,"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":0.8051034808158875},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7415820956230164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6169308423995972},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5854437351226807},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.565570592880249},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5412414073944092},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5298652052879333},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5288748741149902},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5195951461791992},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5100336670875549},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4943978786468506},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4244089722633362},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4195685386657715},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.4136679768562317},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22208446264266968},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16083234548568726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1213548481464386},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11057323217391968}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8051034808158875},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7415820956230164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169308423995972},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5854437351226807},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.565570592880249},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5412414073944092},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5298652052879333},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5288748741149902},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5195951461791992},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5100336670875549},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4943978786468506},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4244089722633362},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4195685386657715},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.4136679768562317},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22208446264266968},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16083234548568726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1213548481464386},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11057323217391968},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7300000190734863,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W42364080","https://openalex.org/W44752476","https://openalex.org/W400320946","https://openalex.org/W575145863","https://openalex.org/W646286238","https://openalex.org/W1256870269","https://openalex.org/W1489960298","https://openalex.org/W1496415811","https://openalex.org/W1496777766","https://openalex.org/W1510918013","https://openalex.org/W1517453255","https://openalex.org/W1564897360","https://openalex.org/W2025371838","https://openalex.org/W2056977033","https://openalex.org/W2128889010","https://openalex.org/W2323447981","https://openalex.org/W2341668857","https://openalex.org/W2477630529","https://openalex.org/W2478796704","https://openalex.org/W2486006910","https://openalex.org/W2623785075","https://openalex.org/W2883526606","https://openalex.org/W3217246742","https://openalex.org/W4205362845","https://openalex.org/W4210703827","https://openalex.org/W6601664982","https://openalex.org/W6601825734","https://openalex.org/W6613891397","https://openalex.org/W6627901521","https://openalex.org/W6629326353","https://openalex.org/W6629617714","https://openalex.org/W6630510879","https://openalex.org/W6633694296","https://openalex.org/W6700729416","https://openalex.org/W6704385452","https://openalex.org/W7052369710"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W2141603307","https://openalex.org/W4300511988","https://openalex.org/W4229795303","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2101533328","https://openalex.org/W1836713364","https://openalex.org/W2317650444"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"motion":[3],"control":[4,25,30,73],"concepts":[5,40,86],"on":[6,12,59],"parallel":[7,62],"robots":[8],"with":[9,32,76],"explicit":[10],"focus":[11],"anti-windup-design":[13],"and":[14,19,96],"trajectory-tracking.":[15],"Starting":[16],"from":[17],"modeling":[18],"exact":[20],"feedback":[21],"linearization,":[22],"a":[23,60,90],"cascade":[24],"is":[26,47,74],"designed.":[27],"Improvements":[28],"to":[29,34,78],"laws":[31],"respect":[33,77],"input-saturations":[35],"are":[36,57,87],"derived":[37,88],"by":[38],"using":[39],"of":[41,53,67,72],"anti-windup":[42],"compensation.":[43],"A":[44],"multiple-axis":[45],"anti-windup-control":[46],"presented,":[48],"guaranteeing":[49,93],"tracking":[50,80],"in":[51,89],"case":[52],"input-saturation.":[54],"Control":[55],"schemes":[56],"implemented":[58],"planar":[61],"manipulator":[63],"for":[64],"performance":[65],"evaluation":[66],"high":[68],"dynamic":[69],"operation.":[70],"Efficiency":[71],"highlighted":[75],"trajectory":[79],"i.":[81],"e.":[82],"Cartesian":[83],"distortion.":[84],"All":[85],"formal":[91],"way":[92],"manipulator-independent":[94],"results":[95],"transferability.":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}