{"id":"https://openalex.org/W4361990718","doi":"https://doi.org/10.1109/tcst.2023.3260995","title":"Tuning of Passivity-Based Controllers for Mechanical Systems","display_name":"Tuning of Passivity-Based Controllers for Mechanical Systems","publication_year":2023,"publication_date":"2023-03-31","ids":{"openalex":"https://openalex.org/W4361990718","doi":"https://doi.org/10.1109/tcst.2023.3260995"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3260995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3260995","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://research.rug.nl/en/publications/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006936861","display_name":"Carmen Chan-Zheng","orcid":"https://orcid.org/0000-0003-0124-7905"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Carmen Chan-Zheng","raw_affiliation_strings":["Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen (ENTEG), Faculty of Science and Engineering, University of Groningen, Groningen, AG, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0124-7905","affiliations":[{"raw_affiliation_string":"Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen (ENTEG), Faculty of Science and Engineering, University of Groningen, Groningen, AG, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032080789","display_name":"Pablo Borja","orcid":"https://orcid.org/0000-0001-7744-0846"},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pablo Borja","raw_affiliation_strings":["School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7744-0846","affiliations":[{"raw_affiliation_string":"School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, U.K","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078364973","display_name":"Jacquelien M.A. Scherpen","orcid":"https://orcid.org/0000-0002-3409-5760"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jacquelien M. A. Scherpen","raw_affiliation_strings":["Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen (ENTEG), Faculty of Science and Engineering, University of Groningen, Groningen, AG, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-3409-5760","affiliations":[{"raw_affiliation_string":"Jan C. Willems Center for Systems and Control and the Engineering and Technology Institute Groningen (ENTEG), Faculty of Science and Engineering, University of Groningen, Groningen, AG, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1532,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77351667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"31","issue":"6","first_page":"2515","last_page":"2530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9916999936103821,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9916999936103821,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9735999703407288,"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":0.8264143466949463},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8259702920913696},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.6197637319564819},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5871074199676514},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5411301255226135},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5041443109512329},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4914160966873169},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4660324454307556},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4601062536239624},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4487650394439697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42755427956581116},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42443692684173584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4186100959777832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3281534016132355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17444199323654175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09830042719841003},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07942095398902893}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8264143466949463},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8259702920913696},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.6197637319564819},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5871074199676514},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5411301255226135},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5041443109512329},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4914160966873169},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4660324454307556},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4601062536239624},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4487650394439697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42755427956581116},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42443692684173584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4186100959777832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3281534016132355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17444199323654175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09830042719841003},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07942095398902893},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcst.2023.3260995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3260995","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:pure.rug.nl:openaire_cris_publications/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chan-Zheng, C, Borja, P & Scherpen, J M A 2023, 'Tuning of Passivity-Based Controllers for Mechanical Systems', IEEE Transactions on Control Systems Technology, vol. 31, no. 6, pp. 2515 - 2530. https://doi.org/10.1109/TCST.2023.3260995","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pearl.plymouth.ac.uk:10026.1/20733","is_oa":false,"landing_page_url":"https://pearl.plymouth.ac.uk/handle/10026.1/20733","pdf_url":null,"source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"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:pure.rug.nl:openaire/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","is_oa":true,"landing_page_url":"https://hdl.handle.net/11370/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"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":"Chan-Zheng, C, Borja, P & Scherpen, J M A 2023, 'Tuning of Passivity-Based Controllers for Mechanical Systems', IEEE Transactions on Control Systems Technology, vol. 31, no. 6, pp. 2515 - 2530. https://doi.org/10.1109/TCST.2023.3260995","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire_cris_publications/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/f733d9c9-ad02-4f71-888d-0b6e39d21ed4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chan-Zheng, C, Borja, P & Scherpen, J M A 2023, 'Tuning of Passivity-Based Controllers for Mechanical Systems', IEEE Transactions on Control Systems Technology, vol. 31, no. 6, pp. 2515 - 2530. https://doi.org/10.1109/TCST.2023.3260995","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323217","display_name":"Universidad de Costa Rica","ror":"https://ror.org/02yzgww51"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1522935148","https://openalex.org/W1526120274","https://openalex.org/W1911936191","https://openalex.org/W1965080817","https://openalex.org/W1976473169","https://openalex.org/W1987143959","https://openalex.org/W2004741125","https://openalex.org/W2011743708","https://openalex.org/W2019496369","https://openalex.org/W2032546725","https://openalex.org/W2032630233","https://openalex.org/W2048253740","https://openalex.org/W2050323805","https://openalex.org/W2050624485","https://openalex.org/W2050876957","https://openalex.org/W2051244075","https://openalex.org/W2052472719","https://openalex.org/W2072770984","https://openalex.org/W2081599326","https://openalex.org/W2081727243","https://openalex.org/W2096876511","https://openalex.org/W2097908381","https://openalex.org/W2101581099","https://openalex.org/W2107122393","https://openalex.org/W2107769032","https://openalex.org/W2115103036","https://openalex.org/W2116883285","https://openalex.org/W2123963295","https://openalex.org/W2125248216","https://openalex.org/W2141870784","https://openalex.org/W2144355672","https://openalex.org/W2144568093","https://openalex.org/W2150033285","https://openalex.org/W2165626406","https://openalex.org/W2165819505","https://openalex.org/W2167533089","https://openalex.org/W2498334290","https://openalex.org/W2562183967","https://openalex.org/W2742307252","https://openalex.org/W2883453303","https://openalex.org/W2890509521","https://openalex.org/W2905187030","https://openalex.org/W2947944317","https://openalex.org/W3017003242","https://openalex.org/W3102160604","https://openalex.org/W3109969672","https://openalex.org/W3111281292","https://openalex.org/W3157387446","https://openalex.org/W3207845735","https://openalex.org/W4229706427","https://openalex.org/W4285150121","https://openalex.org/W4291722341"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098","https://openalex.org/W4308244460"],"abstract_inverted_index":{"This":[0],"article":[1,98],"describes":[2],"several":[3],"approaches":[4],"for":[5,15,46],"tuning":[6,26,44,106],"the":[7,30,35,49,66,76,84,89],"parameters":[8],"of":[9,12,51,92],"a":[10,72,109],"class":[11],"passivity-based":[13],"controllers":[14,27],"standard":[16],"nonlinear":[17],"mechanical":[18,31,115],"systems.":[19],"In":[20,68],"particular,":[21],"we":[22,42,61,70],"are":[23],"interested":[24],"in":[25,34],"that":[28],"preserve":[29],"system":[32],"structure":[33],"closed":[36],"loop.":[37],"To":[38],"this":[39,97],"end,":[40],"first,":[41],"provide":[43,62,81],"rules":[45,107],"stabilization,":[47],"i.e.,":[48],"rate":[50],"convergence":[52],"(exponential":[53],"stability)":[54],"and":[55,112],"stability":[56],"margin":[57],"(input-to-state":[58],"stability).":[59],"Then,":[60],"guidelines":[63],"to":[64,74,87,108],"remove":[65],"overshoot.":[67],"addition,":[69],"propose":[71],"methodology":[73],"tune":[75],"gyroscopic-related":[77],"parameters.":[78],"We":[79,95],"also":[80],"remarks":[82],"on":[83],"damping":[85],"phenomenon":[86],"facilitate":[88],"practical":[90],"implementation":[91],"our":[93,105],"approaches.":[94],"conclude":[96],"with":[99],"experimental":[100],"results":[101],"obtained":[102],"from":[103],"applying":[104],"fully":[110],"actuated":[111],"an":[113],"underactuated":[114],"system.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
