{"id":"https://openalex.org/W2781895760","doi":"https://doi.org/10.1109/tcst.2017.2783339","title":"Efficient PID Tracking Control of Robotic Manipulators Driven by Compliant Actuators","display_name":"Efficient PID Tracking Control of Robotic Manipulators Driven by Compliant Actuators","publication_year":2018,"publication_date":"2018-01-05","ids":{"openalex":"https://openalex.org/W2781895760","doi":"https://doi.org/10.1109/tcst.2017.2783339","mag":"2781895760"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2783339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2783339","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/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":6.4489,"has_fulltext":false,"cited_by_count":162,"citation_normalized_percentile":{"value":0.97674853,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"27","issue":"2","first_page":"915","last_page":"922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9836999773979187,"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":0.8690043091773987},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6623052358627319},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6467519998550415},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5046828985214233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5019416809082031},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4979236125946045},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.4960814416408539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46762022376060486},{"id":"https://openalex.org/keywords/tikhonov-regularization","display_name":"Tikhonov regularization","score":0.4427388608455658},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44218504428863525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2950085401535034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22674652934074402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13796651363372803},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10723218321800232},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0960192084312439},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07410669326782227}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8690043091773987},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6623052358627319},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6467519998550415},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5046828985214233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5019416809082031},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4979236125946045},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.4960814416408539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46762022376060486},{"id":"https://openalex.org/C152442038","wikidata":"https://www.wikidata.org/wiki/Q2778212","display_name":"Tikhonov regularization","level":3,"score":0.4427388608455658},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44218504428863525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2950085401535034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22674652934074402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13796651363372803},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10723218321800232},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0960192084312439},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07410669326782227},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/tcst.2017.2783339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2783339","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":[{"id":"https://openalex.org/G3299529411","display_name":null,"funder_award_id":"15/12124019","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"},{"id":"https://openalex.org/G7893413209","display_name":null,"funder_award_id":"WBS R397000218112","funder_id":"https://openalex.org/F4320334739","funder_display_name":"Faculty of Science, National University of Singapore"}],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"},{"id":"https://openalex.org/F4320334739","display_name":"Faculty of Science, National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1516819086","https://openalex.org/W1604456152","https://openalex.org/W1995343612","https://openalex.org/W2009178724","https://openalex.org/W2011833550","https://openalex.org/W2028153280","https://openalex.org/W2033433965","https://openalex.org/W2052126122","https://openalex.org/W2054029236","https://openalex.org/W2062205503","https://openalex.org/W2073136132","https://openalex.org/W2078046250","https://openalex.org/W2083480020","https://openalex.org/W2099635529","https://openalex.org/W2104039388","https://openalex.org/W2116767351","https://openalex.org/W2129770841","https://openalex.org/W2131404784","https://openalex.org/W2148806858","https://openalex.org/W2163982689","https://openalex.org/W2167786154","https://openalex.org/W2169100281","https://openalex.org/W2172300700","https://openalex.org/W2293200354","https://openalex.org/W2401714255","https://openalex.org/W2573154714","https://openalex.org/W2623634636","https://openalex.org/W4238990946","https://openalex.org/W4240801863","https://openalex.org/W6713145927"],"related_works":["https://openalex.org/W3131586246","https://openalex.org/W4232854940","https://openalex.org/W2533995846","https://openalex.org/W2028208404","https://openalex.org/W2004501529","https://openalex.org/W4298516010","https://openalex.org/W1974122505","https://openalex.org/W2793340545","https://openalex.org/W1983203485","https://openalex.org/W2950405212"],"abstract_inverted_index":{"This":[0],"brief":[1],"aims":[2],"to":[3,69,86,100],"show":[4],"that":[5,114],"a":[6,30,36,81,97,124,179],"linear":[7],"proportional\u2013integral\u2013derivative":[8],"(PID)":[9],"controller":[10,62,66,83,132],"is":[11,27,67,84,112,133,157,164],"theoretically":[12],"valid":[13,159],"for":[14],"tracking":[15],"control":[16,25,128],"of":[17,75,91,127,171,187],"robotic":[18,182],"manipulators":[19],"driven":[20],"by":[21],"compliant":[22,181],"actuators.":[23],"The":[24,130,154],"problem":[26],"formulated":[28],"into":[29],"three-time-scale":[31],"singular":[32],"perturbation":[33],"formula,":[34],"including":[35],"slow":[37],"time":[38,48,58],"scale":[39,49,59],"at":[40,50,60],"the":[41,51,61,76,92,101,107,115,161,172,188],"rigid":[42,77,103],"robot":[43,78,104,173],"dynamics,":[44,53,79],"one":[45],"actual":[46],"fast":[47,57],"actuator":[52,93],"and":[54,80,106,138,151],"another":[55],"virtual":[56],"dynamics.":[63,94,174],"A":[64],"PID-type":[65],"derived":[68],"guarantee":[70],"semiglobal":[71,119],"practical":[72,120],"exponential":[73,89,121],"stability":[74,90,122],"derivative-type":[82],"applied":[85],"establish":[87],"global":[88],"Based":[95],"on":[96,178],"state":[98],"transformation":[99],"closed-loop":[102],"dynamics":[105],"extended":[108],"Tikhonov\u2019s":[109],"theorem,":[110],"it":[111],"proven":[113],"entire":[116],"system":[117],"has":[118],"under":[123],"proper":[125],"choice":[126],"parameters.":[129],"proposed":[131,189],"not":[134],"only":[135,158],"structurally":[136],"simple":[137],"model-free":[139],"resulting":[140],"in":[141],"low":[142],"implementation":[143],"cost,":[144],"but":[145],"also":[146],"robust":[147],"against":[148],"external":[149],"disturbances":[150],"parameter":[152],"variations.":[153],"current":[155],"design":[156],"while":[160],"spring":[162],"stiffness":[163],"relatively":[165],"large":[166],"compared":[167],"with":[168],"other":[169],"parameters":[170],"Experimental":[175],"results":[176],"based":[177],"single-link":[180],"manipulator":[183],"have":[184],"verified":[185],"effectiveness":[186],"approach.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
