{"id":"https://openalex.org/W2019221830","doi":"https://doi.org/10.1109/smc.2014.6974561","title":"Enhanced decentralized robust adaptive control of robots with arbitrarily-switched unknown constraints","display_name":"Enhanced decentralized robust adaptive control of robots with arbitrarily-switched unknown constraints","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W2019221830","doi":"https://doi.org/10.1109/smc.2014.6974561","mag":"2019221830"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2014.6974561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://orbilu.uni.lu/handle/10993/19063","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113789202","display_name":"Ibrahim F. Jasim","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Ibrahim F. Jasim","raw_affiliation_strings":["Faculty of Science Technology and Communication, University of Luxembourg, Luxembourg","University of Luxembourg > Faculty of Science, Technology and Communication (FSTC)  >  Engineering Research Unit"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science Technology and Communication, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"University of Luxembourg > Faculty of Science, Technology and Communication (FSTC)  >  Engineering Research Unit","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068617396","display_name":"Peter Plapper","orcid":"https://orcid.org/0000-0003-3507-1397"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Peter W. Plapper","raw_affiliation_strings":["Faculty of Science, Technology and Communication, University of Luxembourg, Luxembourg","University of Luxembourg > Faculty of Science, Technology and Communication (FSTC)  >  Engineering Research Unit"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Technology and Communication, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"University of Luxembourg > Faculty of Science, Technology and Communication (FSTC)  >  Engineering Research Unit","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":0.4659,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52183229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"43","issue":null,"first_page":"4027","last_page":"4032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9968000054359436,"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":0.7824611067771912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6532549858093262},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6034654378890991},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5990039706230164},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5569921731948853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5546697378158569},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49390536546707153},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4919740855693817},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4646131098270416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4596012234687805},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.458184152841568},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4506455063819885},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4324420690536499},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.25320965051651},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23771986365318298},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1910485327243805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1121930181980133},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07235550880432129}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7824611067771912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6532549858093262},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6034654378890991},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5990039706230164},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5569921731948853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5546697378158569},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49390536546707153},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4919740855693817},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4646131098270416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4596012234687805},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.458184152841568},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4506455063819885},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4324420690536499},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25320965051651},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23771986365318298},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1910485327243805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1121930181980133},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07235550880432129},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/smc.2014.6974561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/19063","is_oa":true,"landing_page_url":"http://orbilu.uni.lu/handle/10993/19063","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014) (pp. 4027-4032). (2014).","raw_type":null}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/19063","is_oa":true,"landing_page_url":"http://orbilu.uni.lu/handle/10993/19063","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014) (pp. 4027-4032). (2014).","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1552094772","https://openalex.org/W1968047062","https://openalex.org/W1972209047","https://openalex.org/W1984554218","https://openalex.org/W1986689506","https://openalex.org/W1994067443","https://openalex.org/W2016958754","https://openalex.org/W2035852982","https://openalex.org/W2048603489","https://openalex.org/W2065720856","https://openalex.org/W2066367730","https://openalex.org/W2079795404","https://openalex.org/W2083483041","https://openalex.org/W2106111936","https://openalex.org/W2123411906","https://openalex.org/W2139267874","https://openalex.org/W2150024155","https://openalex.org/W3144924457","https://openalex.org/W6988936685"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2281732014","https://openalex.org/W2110982267","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"propose":[4],"an":[5],"Enhanced":[6],"Decentralized":[7],"Robust":[8],"Adaptive":[9],"Control":[10,48],"(EDRAC)":[11],"strategy":[12,27,137,162],"that":[13],"guarantees":[14,123],"global":[15,124],"stable":[16,125],"performance":[17,126],"for":[18,109,146],"robots":[19],"under":[20,127],"arbitrarily-switched":[21],"and":[22,44,73,91,116,131,156],"unknown":[23],"constraints.":[24],"The":[25,50,83,121],"EDRAC":[26,136,161],"is":[28,56,86,94,144,163],"a":[29,39,66,147],"synergy":[30],"of":[31,34,68,78,112,159],"the":[32,35,45,53,60,69,79,92,102,107,113,118,132,135,157,160],"concepts":[33],"decentralized":[36],"control,":[37],"finding":[38],"Common":[40],"Lyapunov":[41],"Function":[42],"(CLF),":[43],"Sliding":[46],"Mode":[47],"(SMC).":[49],"decentralization":[51],"in":[52,76,101],"control":[54,103,119],"action":[55],"realized":[57],"through":[58,96],"decomposing":[59],"joints":[61,81],"dynamics":[62,115],"into":[63],"two":[64,148,153],"parts;":[65],"function":[67],"specific":[70],"joint":[71],"variables":[72],"another":[74],"one":[75],"term":[77,85],"all":[80],"variables.":[82],"first":[84],"assumed":[87],"to":[88],"be":[89],"known":[90],"latter":[93],"compensated":[95],"adapting":[97],"its":[98],"upper":[99],"bound":[100],"loop":[104],"hence":[105],"relaxing":[106],"need":[108],"knowing":[110],"part":[111],"robot":[114,150],"simplifying":[117],"strategy.":[120],"CLF":[122],"arbitrary":[128],"constraints":[129,155],"switching,":[130],"SMC":[133],"makes":[134],"robust":[138],"against":[139],"possible":[140],"parameters":[141],"drift.":[142],"Simulation":[143],"performed":[145],"link":[149],"interacting":[151],"with":[152],"switching":[154],"efficiency":[158],"shown.":[164]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
