{"id":"https://openalex.org/W2135221566","doi":"https://doi.org/10.1109/tcst.2010.2086458","title":"Control of Robotic Systems With Unknown Friction and Payload","display_name":"Control of Robotic Systems With Unknown Friction and Payload","publication_year":2010,"publication_date":"2010-11-23","ids":{"openalex":"https://openalex.org/W2135221566","doi":"https://doi.org/10.1109/tcst.2010.2086458","mag":"2135221566"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2010.2086458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2086458","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-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/A5035575883","display_name":"L\u0151rinc M\u00e1rton","orcid":"https://orcid.org/0000-0003-1070-2877"},"institutions":[{"id":"https://openalex.org/I43886","display_name":"Sapientia Hungarian University of Transylvania","ror":"https://ror.org/04ahh4d11","country_code":"RO","type":"education","lineage":["https://openalex.org/I43886"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"L\u0151rinc Marton","raw_affiliation_strings":["Department of Electrical Engineering, Hungarian University of Transylvania, Targu-Mures, Romania","Dept. of Electr. Eng., Sapientia Hungarian Univ. of Transylvania, Tirgu Mures, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Hungarian University of Transylvania, Targu-Mures, Romania","institution_ids":["https://openalex.org/I43886"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Sapientia Hungarian Univ. of Transylvania, Tirgu Mures, Romania","institution_ids":["https://openalex.org/I43886"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114253836","display_name":"B\u00e9la Lantos","orcid":null},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]},{"id":"https://openalex.org/I3131446353","display_name":"Andr\u00e1ssy University Budapest","ror":"https://ror.org/05xezqk59","country_code":"HU","type":"education","lineage":["https://openalex.org/I3131446353"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"B\u00e9la Lantos","raw_affiliation_strings":["Department of Control Engineering and Information Technology, Budapest University\uc2a0of\uc2a0Technology\uc2a0and\uc2a0Economics, Budapest, Hungary","[Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, Budapest University\uc2a0of\uc2a0Technology\uc2a0and\uc2a0Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I3131446353"]},{"raw_affiliation_string":"[Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary]","institution_ids":["https://openalex.org/I29770179"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8335,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.95860666,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"19","issue":"6","first_page":"1534","last_page":"1539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9961000084877014,"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":0.9961000084877014,"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":0.9952999949455261,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879000186920166,"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/payload","display_name":"Payload (computing)","score":0.9340193867683411},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7398182153701782},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6776511073112488},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6568188667297363},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6562224626541138},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5916976928710938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.57489013671875},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5138823986053467},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49073326587677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44561153650283813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4088291525840759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30918973684310913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2859228849411011}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9340193867683411},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7398182153701782},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6776511073112488},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6568188667297363},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6562224626541138},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5916976928710938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57489013671875},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5138823986053467},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49073326587677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44561153650283813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4088291525840759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30918973684310913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2859228849411011},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/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/tcst.2010.2086458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2086458","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1509291520","https://openalex.org/W1592979472","https://openalex.org/W1984598383","https://openalex.org/W1997219442","https://openalex.org/W2003884760","https://openalex.org/W2009600600","https://openalex.org/W2099903065","https://openalex.org/W2102911553","https://openalex.org/W2141038028","https://openalex.org/W2143528306","https://openalex.org/W2144556291","https://openalex.org/W2157451957","https://openalex.org/W2159356253","https://openalex.org/W2166588043","https://openalex.org/W2171391435","https://openalex.org/W2190955231","https://openalex.org/W4246923680","https://openalex.org/W4285719527","https://openalex.org/W6680775867"],"related_works":["https://openalex.org/W2593301055","https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W1606553367","https://openalex.org/W2055801945","https://openalex.org/W1925083093","https://openalex.org/W2146430632","https://openalex.org/W2139526495","https://openalex.org/W2080408381","https://openalex.org/W2148178391"],"abstract_inverted_index":{"The":[0],"paper":[1],"introduces":[2],"a":[3,21],"tracking":[4,54,68],"control":[5,35,62],"algorithm":[6,63],"for":[7,40],"robotic":[8],"manipulators":[9],"with":[10,25,55,66],"partially":[11],"known":[12],"parameters.":[13,48],"In":[14],"the":[15,19,31,51,77,80],"first":[16],"part":[17],"of":[18,43,53,79],"study":[20],"reformulated":[22],"robot":[23,34],"model":[24,32],"friction":[26,45],"is":[27,64],"introduced":[28],"using":[29],"which":[30],"based":[33],"algorithms":[36],"can":[37],"be":[38],"extended":[39],"adaptive":[41,61],"compensation":[42],"unknown":[44,56],"and":[46,58],"payload":[47,57],"To":[49],"solve":[50],"problem":[52],"friction,":[59],"an":[60],"proposed":[65],"guaranteed":[67],"convergence.":[69],"Experimental":[70],"measurements":[71],"are":[72],"also":[73],"presented":[74],"to":[75],"show":[76],"applicability":[78],"theoretical":[81],"results.":[82]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
