{"id":"https://openalex.org/W2002060021","doi":"https://doi.org/10.1109/tcst.2013.2296355","title":"Multiobjective Optimization of an Observer-Based Controller: Theory and Experiments on an Underwater Grinding Robot","display_name":"Multiobjective Optimization of an Observer-Based Controller: Theory and Experiments on an Underwater Grinding Robot","publication_year":2014,"publication_date":"2014-01-31","ids":{"openalex":"https://openalex.org/W2002060021","doi":"https://doi.org/10.1109/tcst.2013.2296355","mag":"2002060021"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2013.2296355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2013.2296355","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/A5049718147","display_name":"Philippe Hamelin","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Philippe Hamelin","raw_affiliation_strings":["Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072781167","display_name":"Pascal Bigras","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pascal Bigras","raw_affiliation_strings":["Department of Automated Manufacturing Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automated Manufacturing Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005152442","display_name":"Julien Beaudry","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Julien Beaudry","raw_affiliation_strings":["Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086219992","display_name":"Pierre-Luc Richard","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pierre-Luc Richard","raw_affiliation_strings":["Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032840960","display_name":"Michel Blain","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michel Blain","raw_affiliation_strings":["Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Civil Engineering Group, Hydro-Qu\u00e9bec's Research Institute, Varennes, QC, Canada","institution_ids":["https://openalex.org/I47099075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0149,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87486361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"22","issue":"5","first_page":"1875","last_page":"1882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9973000288009644,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9973000288009644,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9940999746322632,"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-engineering","display_name":"Control engineering","score":0.6218169927597046},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5654782652854919},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5549834966659546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5379320979118347},{"id":"https://openalex.org/keywords/test-bench","display_name":"Test bench","score":0.4983186721801758},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49113795161247253},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.49002110958099365},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.4654076397418976},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41815781593322754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34526219964027405},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16822639107704163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14408767223358154},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.137172669172287}],"concepts":[{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6218169927597046},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5654782652854919},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5549834966659546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5379320979118347},{"id":"https://openalex.org/C2776266606","wikidata":"https://www.wikidata.org/wiki/Q476482","display_name":"Test bench","level":2,"score":0.4983186721801758},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49113795161247253},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.49002110958099365},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.4654076397418976},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41815781593322754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34526219964027405},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16822639107704163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14408767223358154},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.137172669172287},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2013.2296355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2013.2296355","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"},{"id":"pmh:oai:espace2.etsmtl.ca:8449","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/8449/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article publi\u00e9 dans une revue, r\u00e9vis\u00e9 par les pairs"}],"best_oa_location":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/W1595498733","https://openalex.org/W1964956827","https://openalex.org/W1977681866","https://openalex.org/W1992250505","https://openalex.org/W2000175387","https://openalex.org/W2012604200","https://openalex.org/W2038925750","https://openalex.org/W2066935165","https://openalex.org/W2086343416","https://openalex.org/W2093191407","https://openalex.org/W2115424783","https://openalex.org/W2120807258","https://openalex.org/W2122051127","https://openalex.org/W2126105956","https://openalex.org/W2134429612","https://openalex.org/W2134741364","https://openalex.org/W2137048068","https://openalex.org/W2151611806","https://openalex.org/W2157862667","https://openalex.org/W2177287582"],"related_works":["https://openalex.org/W2913189039","https://openalex.org/W1889691171","https://openalex.org/W613097443","https://openalex.org/W2888778368","https://openalex.org/W4236890452","https://openalex.org/W2484273923","https://openalex.org/W1991400806","https://openalex.org/W1717190054","https://openalex.org/W2075474585","https://openalex.org/W2675431147"],"abstract_inverted_index":{"Hydro-Qu\u00e9bec":[0],"operates":[1],"hundreds":[2],"of":[3,18,39,44,67,113,182,200],"dikes":[4],"and":[5,11,23,31,101],"dams":[6],"built":[7],"many":[8],"decades":[9],"ago,":[10],"is":[12,75,204],"committed":[13],"to":[14,90,117,179],"the":[15,41,83,92,98,102,107,111,114,137,147,152,180,195,201,211],"long-term":[16],"sustainability":[17],"these":[19,172],"facilities.":[20],"The":[21,65,184,198],"researchers":[22],"engineers":[24],"at":[25,106],"its":[26],"research":[27],"institute":[28],"have":[29,216],"designed":[30],"manufactured":[32],"a":[33,68,73,76,130,158,167],"submersible":[34],"grinding":[35,45,99,208],"robot":[36,212],"prototype":[37],"capable":[38],"performing":[40],"important":[42],"task":[43],"underwater":[46,103,207],"metallic":[47],"structures.":[48],"This":[49],"robot,":[50],"with":[51,191],"direct":[52],"drive":[53],"linear":[54],"motors,":[55],"has":[56,125],"an":[57],"excellent":[58],"dynamic":[59,88],"performance,":[60],"but":[61,136],"lacks":[62],"intrinsic":[63],"stiffness.":[64],"design":[66,139,160,203],"control":[69,80,115,123],"system":[70,74],"for":[71,79,133,141,171],"such":[72],"major":[77],"challenge":[78],"engineers,":[81],"as":[82],"algorithm":[84],"must":[85],"achieve":[86],"sufficient":[87],"stiffness":[89],"withstand":[91],"significant":[93],"external":[94],"perturbations":[95],"generated":[96],"by":[97],"process":[100],"environment,":[104],"while":[105],"same":[108,153],"time":[109],"minimizing":[110],"sensitivity":[112],"effort":[116],"measurement":[118],"noise.":[119],"A":[120],"discrete-time":[121],"observer-based":[122],"structure":[124,143],"already":[126],"been":[127],"proposed":[128,202],"in":[129,162],"previous":[131],"work":[132],"this":[134,142,163],"purpose,":[135],"empirical":[138,196],"procedure":[140],"did":[144],"not":[145],"consider":[146],"two":[148],"contradictory":[149],"objectives.":[150],"Using":[151],"controller":[154],"structure,":[155],"we":[156,215],"propose":[157],"new":[159],"methodology":[161],"brief,":[164],"based":[165],"on":[166],"multiobjective":[168],"genetic":[169],"algorithm,":[170],"mechatronic":[173],"systems,":[174],"which":[175],"are":[176,189],"highly":[177],"prone":[178],"effects":[181],"disturbances.":[183],"results":[185],"obtained":[186,193],"through":[187,206],"optimization":[188],"compared":[190],"those":[192],"using":[194,210],"method.":[197],"effectiveness":[199],"demonstrated":[205],"experiments":[209],"test":[213],"bench":[214],"developed.":[217]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
