{"id":"https://openalex.org/W2774039087","doi":"https://doi.org/10.1109/smc.2017.8122834","title":"Control of a flexible-joint robot using a stable adaptive introspective CMAC","display_name":"Control of a flexible-joint robot using a stable adaptive introspective CMAC","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2774039087","doi":"https://doi.org/10.1109/smc.2017.8122834","mag":"2774039087"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2017.8122834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5071627492","display_name":"C.J.B. Macnab","orcid":"https://orcid.org/0000-0002-4999-0696"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"C.J. B. Macnab","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of of Calgary, Calgary, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of of Calgary, Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008824838","display_name":"M. Razmi","orcid":null},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Razmi","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of of Calgary, Calgary, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of of Calgary, Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071627492"],"corresponding_institution_ids":["https://openalex.org/I168635309"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.20591406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1546","last_page":"1551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear 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/T11749","display_name":"Iterative Learning Control Systems","score":0.9847000241279602,"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/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/cerebellar-model-articulation-controller","display_name":"Cerebellar model articulation controller","score":0.9579636454582214},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7290244102478027},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7204452753067017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6560032367706299},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5263993740081787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5150689482688904},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5125393867492676},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4703386425971985},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45578354597091675},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.44148606061935425},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4286647439002991},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3414686322212219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31219282746315},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2714257538318634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27117252349853516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18437883257865906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16109997034072876}],"concepts":[{"id":"https://openalex.org/C2780576740","wikidata":"https://www.wikidata.org/wiki/Q5064071","display_name":"Cerebellar model articulation controller","level":3,"score":0.9579636454582214},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7290244102478027},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7204452753067017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6560032367706299},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5263993740081787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5150689482688904},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5125393867492676},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4703386425971985},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45578354597091675},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.44148606061935425},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4286647439002991},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3414686322212219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31219282746315},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2714257538318634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27117252349853516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18437883257865906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16109997034072876},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2017.8122834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":20,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1970923058","https://openalex.org/W1983321650","https://openalex.org/W1986095702","https://openalex.org/W1993740947","https://openalex.org/W1998248527","https://openalex.org/W1999599011","https://openalex.org/W2001426593","https://openalex.org/W2003217710","https://openalex.org/W2013815893","https://openalex.org/W2047816597","https://openalex.org/W2067544125","https://openalex.org/W2093563264","https://openalex.org/W2115614797","https://openalex.org/W2146278934","https://openalex.org/W2154088208","https://openalex.org/W2170346869","https://openalex.org/W2332039583","https://openalex.org/W2558170087","https://openalex.org/W2613106516"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2172206431","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4],"control":[5],"for":[6],"a":[7,24,33,52,125,132,139,151],"rigidlink,":[8],"flexible-joint":[9,142],"robot":[10],"using":[11,131],"the":[12,19,46,56,64,73,81,109],"Cerebellar":[13],"Model":[14],"Articulation":[15],"Controller":[16],"(CMAC)":[17],"and":[18,31,71,150],"backstepping":[20],"method,":[21,44,48,58],"which":[22],"is":[23,49],"suitable":[25],"method":[26],"when":[27],"joints":[28],"are":[29],"underdamped":[30],"exhibit":[32],"large":[34],"amount":[35],"of":[36,75,105],"flexibility.":[37],"A":[38],"previously":[39],"proposed":[40],"robust":[41,126],"weight":[42,95,114,135],"update":[43,96],"deemed":[45],"introspective":[47,57],"placed":[50],"into":[51],"Lyapunov-stable":[53],"framework.":[54],"In":[55,117],"each":[59],"local":[60],"CMAC":[61,83,127],"cell":[62,86],"measures":[63],"output":[65],"error":[66,100],"in":[67,129],"its":[68,93],"own":[69],"domain":[70,74],"over":[72,148],"several":[76],"sequentially":[77],"activated":[78,110],"cells":[79,111],"on":[80,89],"same":[82],"array.":[84],"The":[85,103],"then":[87],"votes":[88,107],"whether":[90,113],"it":[91],"appears":[92],"previous":[94],"has":[97],"reduced":[98],"this":[99],"or":[101],"not.":[102],"sum":[104],"all":[106],"from":[108],"determines":[112],"updates":[115],"continue.":[116],"order":[118],"to":[119],"ensure":[120],"uniformly":[121],"ultimately":[122],"bounded":[123],"signals,":[124],"operates":[128],"parallel":[130],"conservative":[133],"e-modification":[134,149],"update.":[136],"Simulations":[137],"with":[138],"two":[140],"link":[141],"arm":[143],"show":[144],"significantly":[145],"improved":[146],"performance":[147],"model-based":[152],"LQR":[153],"control.":[154]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}