{"id":"https://openalex.org/W4386736446","doi":"https://doi.org/10.1109/tcst.2023.3311099","title":"Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations","display_name":"Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations","publication_year":2023,"publication_date":"2023-09-14","ids":{"openalex":"https://openalex.org/W4386736446","doi":"https://doi.org/10.1109/tcst.2023.3311099"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3311099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3311099","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/A5030519784","display_name":"Sze Kwan Cheah","orcid":"https://orcid.org/0000-0002-1123-0931"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sze Kwan Cheah","raw_affiliation_strings":["Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0002-1123-0931","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103446420","display_name":"Alex Hayes","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Hayes","raw_affiliation_strings":["Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001412160","display_name":"Ryan J. Caverly","orcid":"https://orcid.org/0000-0001-7315-7322"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan J. Caverly","raw_affiliation_strings":["Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0001-7315-7322","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":2.0383,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86786007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"202","last_page":"213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning 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/T11749","display_name":"Iterative Learning 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9883999824523926,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9837999939918518,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8387386202812195},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.580221951007843},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5414801239967346},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4882798194885254},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4643135070800781},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.44110891222953796},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.42474237084388733},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4199889600276947},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4117496609687805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3958815932273865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30187150835990906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29797884821891785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27680525183677673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24188843369483948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16332921385765076},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.14856913685798645}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8387386202812195},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.580221951007843},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5414801239967346},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4882798194885254},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4643135070800781},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44110891222953796},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.42474237084388733},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4199889600276947},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4117496609687805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3958815932273865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30187150835990906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29797884821891785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27680525183677673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24188843369483948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16332921385765076},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.14856913685798645},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2023.3311099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3311099","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":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1965391287","https://openalex.org/W1966437633","https://openalex.org/W1968608645","https://openalex.org/W1984109892","https://openalex.org/W2001422561","https://openalex.org/W2011176189","https://openalex.org/W2025702470","https://openalex.org/W2038928597","https://openalex.org/W2076578526","https://openalex.org/W2083483041","https://openalex.org/W2091079047","https://openalex.org/W2111706289","https://openalex.org/W2113341352","https://openalex.org/W2122739526","https://openalex.org/W2123411533","https://openalex.org/W2125838011","https://openalex.org/W2139799964","https://openalex.org/W2147285204","https://openalex.org/W2161085359","https://openalex.org/W2162991084","https://openalex.org/W2201166900","https://openalex.org/W2212354831","https://openalex.org/W2298179249","https://openalex.org/W2514549633","https://openalex.org/W2518782243","https://openalex.org/W2522056657","https://openalex.org/W2615395590","https://openalex.org/W2728182986","https://openalex.org/W2742744646","https://openalex.org/W2885680239","https://openalex.org/W2899753591","https://openalex.org/W2909793404","https://openalex.org/W2932346083","https://openalex.org/W3011260014","https://openalex.org/W3017598691","https://openalex.org/W3044760421","https://openalex.org/W3045783004","https://openalex.org/W3047980805","https://openalex.org/W3106018402","https://openalex.org/W3109363619","https://openalex.org/W3135201915","https://openalex.org/W3171882147","https://openalex.org/W3185710730","https://openalex.org/W3198301488","https://openalex.org/W4205241083","https://openalex.org/W4226241062","https://openalex.org/W4230289530","https://openalex.org/W4235118199","https://openalex.org/W4240833877","https://openalex.org/W4317762139"],"related_works":["https://openalex.org/W2357010517","https://openalex.org/W2392630999","https://openalex.org/W2758274745","https://openalex.org/W2007701578","https://openalex.org/W2138377666","https://openalex.org/W2069228476","https://openalex.org/W2076711944","https://openalex.org/W1944326388","https://openalex.org/W2127654528","https://openalex.org/W2040448613"],"abstract_inverted_index":{"This":[0,35],"article":[1],"presents":[2],"a":[3,8,28,39,76,109,124],"pose":[4,57,129],"tracking":[5,59],"controller":[6,25,48,69,102],"for":[7,32,73,158],"six":[9],"degree-of-freedom":[10],"(DOF)":[11],"overconstrained":[12],"cable-driven":[13],"parallel":[14],"robot":[15],"(CDPR).":[16],"The":[17,95,117],"proposed":[18,68,101],"control":[19,142,159],"method":[20],"uses":[21],"an":[22],"adaptive":[23],"feedforward-based":[24],"to":[26,49,149],"establish":[27],"passive":[29],"input\u2013output":[30,53],"mapping":[31],"the":[33,61,67,87,90,100,128,134,141,150],"CDPR.":[34,161],"is":[36,70,103,138],"used":[37,139,157],"alongside":[38],"linear":[40],"time-invariant":[41],"(LTI)":[42],"strictly":[43],"positive":[44],"real":[45],"(SPR)":[46],"feedback":[47],"guarantee":[50],"robust":[51],"closed-loop":[52],"stability":[54],"and":[55,97,113],"asymptotic":[56],"trajectory":[58],"via":[60],"passivity":[62],"theorem.":[63],"A":[64],"novelty":[65],"of":[66,78,99,108,123,127,152,160],"its":[71],"formulation":[72],"use":[74,122,151],"with":[75,111],"range":[77],"payload":[79],"attitude":[80,85],"parameterizations,":[81],"including":[82],"any":[83],"unconstrained":[84],"parameterization,":[86],"quaternion,":[88],"or":[89,136],"direction":[91],"cosine":[92],"matrix":[93],"(DCM).":[94],"performance":[96,147],"robustness":[98],"demonstrated":[104],"through":[105],"numerical":[106],"simulations":[107],"CDPR":[110],"rigid":[112],"flexible":[114],"cables":[115],"models.":[116],"results":[118,144],"show":[119],"that":[120],"making":[121],"multiplicative":[125],"computation":[126],"error,":[130],"such":[131],"as":[132],"when":[133],"quaternion":[135],"DCM":[137],"within":[140],"law,":[143],"in":[145],"better":[146],"compared":[148],"linearized":[153],"Euler-angle":[154],"parameterization":[155],"often":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
