{"id":"https://openalex.org/W3206591569","doi":"https://doi.org/10.1109/tcst.2021.3118488","title":"Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems","display_name":"Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems","publication_year":2021,"publication_date":"2021-10-15","ids":{"openalex":"https://openalex.org/W3206591569","doi":"https://doi.org/10.1109/tcst.2021.3118488","mag":"3206591569"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3118488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3118488","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":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1634024","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062662374","display_name":"Andrea Giusti","orcid":"https://orcid.org/0000-0003-1275-8161"},"institutions":[{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Giusti","raw_affiliation_strings":["Unit of Robotics and Intelligent Systems Engineering, Fraunhofer Italia Research, Bolzano, Italy"],"affiliations":[{"raw_affiliation_string":"Unit of Robotics and Intelligent Systems Engineering, Fraunhofer Italia Research, Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035672626","display_name":"Stefan B. Liu","orcid":"https://orcid.org/0000-0001-5061-7795"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan B. Liu","raw_affiliation_strings":["Department of Informatics, Technical University of Munich (TUM), Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich (TUM), Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Informatics, Technical University of Munich (TUM), Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich (TUM), Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062662374"],"corresponding_institution_ids":["https://openalex.org/I4210104565"],"apc_list":null,"apc_paid":null,"fwci":1.6588,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.86375087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"30","issue":"4","first_page":"1525","last_page":"1537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11697","display_name":"Numerical Methods and Algorithms","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11697","display_name":"Numerical Methods and Algorithms","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10040","display_name":"Adaptive Control of Nonlinear 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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"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":0.804858386516571},{"id":"https://openalex.org/keywords/interval-arithmetic","display_name":"Interval arithmetic","score":0.7853302955627441},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.7103387117385864},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.6036331653594971},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5167709589004517},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5127450227737427},{"id":"https://openalex.org/keywords/affine-arithmetic","display_name":"Affine arithmetic","score":0.48251673579216003},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4797604978084564},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.47631749510765076},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.46085044741630554},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4607492685317993},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44494134187698364},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39137163758277893},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.377765953540802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31512704491615295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1573222279548645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12083175778388977}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.804858386516571},{"id":"https://openalex.org/C191252586","wikidata":"https://www.wikidata.org/wiki/Q1671453","display_name":"Interval arithmetic","level":3,"score":0.7853302955627441},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.7103387117385864},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.6036331653594971},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5167709589004517},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5127450227737427},{"id":"https://openalex.org/C167315692","wikidata":"https://www.wikidata.org/wiki/Q3622729","display_name":"Affine arithmetic","level":3,"score":0.48251673579216003},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4797604978084564},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.47631749510765076},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.46085044741630554},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4607492685317993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44494134187698364},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39137163758277893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.377765953540802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31512704491615295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1573222279548645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12083175778388977},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tcst.2021.3118488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3118488","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:fraunhofer.de:N-647556","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-647556.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer Italia","raw_type":"Journal Article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1634024","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1634024","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1696181","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1696181","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:null:publica/416055","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/416055","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},{"id":"pmh:oai:unibz.it:11348850060001241","is_oa":true,"landing_page_url":"https://doi.org/10.1109/TCST.2021.3118488","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1634024","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1634024","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6763281771","display_name":null,"funder_award_id":"101016007 (Project CONCERT)","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W178772886","https://openalex.org/W349864388","https://openalex.org/W1507872748","https://openalex.org/W1508779685","https://openalex.org/W1583646749","https://openalex.org/W1596951786","https://openalex.org/W1789809724","https://openalex.org/W1966552874","https://openalex.org/W1972645441","https://openalex.org/W1975944939","https://openalex.org/W1981174120","https://openalex.org/W2005634078","https://openalex.org/W2012755955","https://openalex.org/W2017916067","https://openalex.org/W2023319687","https://openalex.org/W2032278511","https://openalex.org/W2056052061","https://openalex.org/W2111018365","https://openalex.org/W2122739526","https://openalex.org/W2125037149","https://openalex.org/W2131388401","https://openalex.org/W2131409324","https://openalex.org/W2132135113","https://openalex.org/W2134320380","https://openalex.org/W2145173274","https://openalex.org/W2147425583","https://openalex.org/W2150443739","https://openalex.org/W2165643318","https://openalex.org/W2166831132","https://openalex.org/W2167757582","https://openalex.org/W2167808181","https://openalex.org/W2171900491","https://openalex.org/W2225978254","https://openalex.org/W2312368416","https://openalex.org/W2339842460","https://openalex.org/W2484229617","https://openalex.org/W2501269035","https://openalex.org/W2612403012","https://openalex.org/W2613607093","https://openalex.org/W2626401248","https://openalex.org/W2744805186","https://openalex.org/W2753396417","https://openalex.org/W2775438297","https://openalex.org/W2792442297","https://openalex.org/W2872947583","https://openalex.org/W2909664786","https://openalex.org/W2915264809","https://openalex.org/W2950430092","https://openalex.org/W2969218722","https://openalex.org/W2969923127","https://openalex.org/W2981427042","https://openalex.org/W3099340829","https://openalex.org/W4205241083","https://openalex.org/W4240172577","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2115030441","https://openalex.org/W1967797333","https://openalex.org/W2353167536","https://openalex.org/W2134029906","https://openalex.org/W2085969366","https://openalex.org/W2970598017","https://openalex.org/W1663802613","https://openalex.org/W2801095064","https://openalex.org/W2884352484","https://openalex.org/W3206591569"],"abstract_inverted_index":{"We":[0,80],"propose":[1],"a":[2,102],"control":[3,34,56,92],"approach":[4,57,98],"for":[5],"fully":[6],"actuated":[7],"mechanical":[8],"systems":[9],"using":[10,65],"interval":[11,66],"arithmetic,":[12],"which":[13],"guarantees":[14],"global":[15],"uniform":[16],"ultimate":[17],"boundedness":[18],"of":[19,43,45,96],"the":[20,71,77],"tracking":[21],"error":[22,78],"and":[23,29,60,89],"robust":[24,33,54,84],"performance":[25],"despite":[26],"model":[27,51],"uncertainties":[28],"input":[30],"disturbances.":[31],"Existing":[32],"methods":[35],"often":[36],"require":[37],"computationally":[38],"expensive":[39],"or":[40],"empirical":[41],"estimations":[42],"bounds":[44],"state-dependent,":[46],"nonlinear":[47],"perturbations,":[48],"arising":[49],"from":[50],"mismatches.":[52],"Our":[53],"feedback":[55],"is":[58,99],"different":[59],"removes":[61],"these":[62],"difficulties":[63],"by":[64,86],"arithmetic":[67],"to":[68],"determine":[69],"online":[70],"worst":[72],"case":[73],"perturbation":[74],"acting":[75],"on":[76,101],"dynamics.":[79,108],"present":[81],"two":[82],"interval-arithmetic-based":[83],"controllers":[85],"robustifying":[87],"inverse-dynamics":[88],"passivity-based":[90],"nominal":[91],"schemes.":[93],"The":[94],"effectiveness":[95],"our":[97],"demonstrated":[100],"real":[103],"robot":[104],"manipulator":[105],"with":[106],"uncertain":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}