{"id":"https://openalex.org/W2154649903","doi":"https://doi.org/10.1109/tro.2009.2012016","title":"Global Output Tracking Control of Flexible Joint Robots via Factorization of the Manipulator Mass Matrix","display_name":"Global Output Tracking Control of Flexible Joint Robots via Factorization of the Manipulator Mass Matrix","publication_year":2009,"publication_date":"2009-03-06","ids":{"openalex":"https://openalex.org/W2154649903","doi":"https://doi.org/10.1109/tro.2009.2012016","mag":"2154649903"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2012016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2012016","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5024169783","display_name":"K. Melhem","orcid":null},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Khoder Melhem","raw_affiliation_strings":["Department of Mechanical Engineering, Lakehead University, Thunder Bay, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lakehead University, Thunder Bay, ONT, Canada","institution_ids":["https://openalex.org/I72541430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101408107","display_name":"Wilson Wang","orcid":"https://orcid.org/0000-0002-3304-0776"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wilson Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Lakehead University, Thunder Bay, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lakehead University, Thunder Bay, ONT, Canada","institution_ids":["https://openalex.org/I72541430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024169783"],"corresponding_institution_ids":["https://openalex.org/I72541430"],"apc_list":null,"apc_paid":null,"fwci":6.8888,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96594123,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"2","first_page":"428","last_page":"437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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":0.9993000030517578,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9987000226974487,"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":0.8093180656433105},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.5615499019622803},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5518690347671509},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5113179683685303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5107152462005615},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5016250610351562},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4615073502063751},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42651310563087463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4152185916900635},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41138356924057007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3217458724975586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31673508882522583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19624477624893188},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1944604218006134},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10610181093215942},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09258630871772766}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8093180656433105},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.5615499019622803},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5518690347671509},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5113179683685303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5107152462005615},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5016250610351562},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4615073502063751},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42651310563087463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4152185916900635},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41138356924057007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3217458724975586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31673508882522583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19624477624893188},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1944604218006134},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10610181093215942},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09258630871772766},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2009.2012016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2012016","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W117774374","https://openalex.org/W1855982673","https://openalex.org/W1858261579","https://openalex.org/W1910304877","https://openalex.org/W1974197620","https://openalex.org/W1983034357","https://openalex.org/W1995090200","https://openalex.org/W1997650413","https://openalex.org/W2023712177","https://openalex.org/W2028153280","https://openalex.org/W2049437759","https://openalex.org/W2073697818","https://openalex.org/W2080293485","https://openalex.org/W2090041806","https://openalex.org/W2105984753","https://openalex.org/W2111521587","https://openalex.org/W2117086981","https://openalex.org/W2123035336","https://openalex.org/W2142428281","https://openalex.org/W2144908914","https://openalex.org/W2150313089","https://openalex.org/W2158516389","https://openalex.org/W2160699865","https://openalex.org/W2164632426","https://openalex.org/W2170935058","https://openalex.org/W2172122756","https://openalex.org/W2179149098","https://openalex.org/W2479430657","https://openalex.org/W6639232797"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W4387960131","https://openalex.org/W2013384158","https://openalex.org/W2097419103"],"abstract_inverted_index":{"<para":[0],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[1],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[2],"This":[3],"paper":[4],"investigates":[5],"the":[6,19,32,37,42,48,63,79,97,113],"problem":[7],"of":[8,14,81,90,112,123],"global":[9],"output":[10],"feedback":[11],"tracking":[12],"control":[13,66],"flexible":[15,124,133],"joint":[16,125,134],"robots.":[17,127],"Despite":[18],"fact":[20],"that":[21,36],"only":[22],"link":[23,38,82],"position":[24,27,39],"and":[25,72,83],"actuator":[26,84],"are":[28,75,137],"available":[29],"from":[30],"measurements,":[31],"proposed":[33,114],"controller":[34,53],"ensures":[35],"globally":[40],"tracks":[41],"desired":[43],"trajectory":[44],"while":[45],"keeping":[46],"all":[47],"remaining":[49],"signals":[50],"bounded.":[51],"The":[52,110],"development":[54],"uses":[55],"a":[56,70,102,131],"partial":[57],"state-feedback":[58,88],"linearization":[59,89],"technique":[60],"combined":[61],"with":[62],"integrator":[64],"backstepping":[65],"design":[67,116],"method":[68],"whereas":[69],"filter":[71],"an":[73,106,121],"observer":[74],"utilized":[76],"to":[77],"remove":[78],"requirement":[80],"velocity":[85],"measurements.":[86],"Partial":[87],"robot":[91,136],"dynamics":[92],"is":[93,118],"performed":[94],"by":[95,120],"factoring":[96],"manipulator":[98],"mass":[99],"matrix":[100],"into":[101],"quadratic":[103],"form":[104],"involving":[105],"integrable":[107],"root":[108],"matrix.":[109],"applicability":[111],"general":[115],"methodology":[117],"illustrated":[119],"example":[122],"planar":[126,135],"Numerical":[128],"results":[129],"for":[130],"two-link":[132],"also":[138],"provided.":[139],"</para>":[140]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
