{"id":"https://openalex.org/W2963944547","doi":"https://doi.org/10.1109/tro.2015.2481282","title":"Collocated Adaptive Control of Underactuated Mechanical Systems","display_name":"Collocated Adaptive Control of Underactuated Mechanical Systems","publication_year":2015,"publication_date":"2015-10-16","ids":{"openalex":"https://openalex.org/W2963944547","doi":"https://doi.org/10.1109/tro.2015.2481282","mag":"2963944547"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2481282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2481282","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101503909","display_name":"Francesco Roman\u00f2","orcid":"https://orcid.org/0000-0001-5630-4992"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Romano","raw_affiliation_strings":["Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Nori","raw_affiliation_strings":["Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain, and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":7.3468,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.972766,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"6","first_page":"1527","last_page":"1536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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/underactuation","display_name":"Underactuation","score":0.9254963994026184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7839933037757874},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6655152440071106},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5747290849685669},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5734379291534424},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5426779389381409},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4716170132160187},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45253074169158936},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.44665828347206116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4369427561759949},{"id":"https://openalex.org/keywords/soundness","display_name":"Soundness","score":0.4341250956058502},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.41527116298675537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4035980701446533},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35696160793304443},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30082619190216064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2377321422100067},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13526031374931335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09960886836051941}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9254963994026184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7839933037757874},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6655152440071106},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5747290849685669},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5734379291534424},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5426779389381409},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4716170132160187},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45253074169158936},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.44665828347206116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4369427561759949},{"id":"https://openalex.org/C39920170","wikidata":"https://www.wikidata.org/wiki/Q693083","display_name":"Soundness","level":2,"score":0.4341250956058502},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.41527116298675537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4035980701446533},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35696160793304443},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30082619190216064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2377321422100067},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13526031374931335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09960886836051941},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/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.2015.2481282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2481282","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W188619141","https://openalex.org/W618254468","https://openalex.org/W1559327333","https://openalex.org/W1560270123","https://openalex.org/W1619551699","https://openalex.org/W1967881621","https://openalex.org/W1969140852","https://openalex.org/W1971044547","https://openalex.org/W1984598383","https://openalex.org/W1997404356","https://openalex.org/W2000556036","https://openalex.org/W2009985114","https://openalex.org/W2051669066","https://openalex.org/W2081598159","https://openalex.org/W2099031974","https://openalex.org/W2101344498","https://openalex.org/W2102564189","https://openalex.org/W2113265921","https://openalex.org/W2122136962","https://openalex.org/W2127996146","https://openalex.org/W2128592712","https://openalex.org/W2129748948","https://openalex.org/W2146416655","https://openalex.org/W2149224990","https://openalex.org/W2153481662","https://openalex.org/W2159699010","https://openalex.org/W2223055204","https://openalex.org/W2266380092","https://openalex.org/W2557925931","https://openalex.org/W2623785075","https://openalex.org/W6604981266","https://openalex.org/W6642962755","https://openalex.org/W6678860325"],"related_works":["https://openalex.org/W1511249877","https://openalex.org/W2466303427","https://openalex.org/W1578828174","https://openalex.org/W2000943029","https://openalex.org/W2950376466","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098"],"abstract_inverted_index":{"Collocated":[0],"adaptive":[1,40,50],"control":[2,13,41,96,144,163],"of":[3,22,38,66,106,123,138,142,150,155,175],"underactuated":[4,68,118],"mechanical":[5,58,69],"systems":[6],"is":[7,74,93,146],"still":[8],"a":[9,151,169],"concern":[10],"for":[11,55,127],"the":[12,20,23,30,35,48,62,77,81,84,101,117,128,136,143,156,173,176],"community.":[14],"The":[15,71],"main":[16],"difficulty":[17],"comes":[18],"from":[19],"nonlinearity":[21],"collocated":[24,63,129],"inverse":[25],"dynamics":[26,92,130],"with":[27],"respect":[28],"to":[29,60,75,113,116,133,161],"base":[31],"parameters,":[32],"which":[33,52],"forbids":[34],"direct":[36],"application":[37],"classical":[39],"schemes.":[42],"This":[43],"paper":[44],"extends":[45],"and":[46,87,109,121,165],"encompasses":[47],"Slotine's":[49,102],"control,":[51],"was":[53],"developed":[54],"fully":[56],"actuated":[57],"systems,":[59],"stabilize":[61],"state":[64,90],"space":[65],"an":[67,88],"system.":[70],"key":[72],"point":[73],"define":[76],"sliding":[78],"variable":[79],"as":[80,95],"difference":[82],"between":[83],"system's":[85],"velocity":[86],"exogenous":[89],"whose":[91],"considered":[94],"input.":[97],"We":[98],"first":[99],"revisit":[100],"result":[103],"in":[104,135],"view":[105],"this":[107],"definition":[108],"then":[110],"show":[111],"how":[112],"extend":[114],"it":[115],"case.":[119],"Stability":[120],"convergence":[122],"time-varying":[124],"reference":[125],"trajectories":[126],"are":[131],"shown":[132],"be":[134],"sense":[137],"Lyapunov.":[139],"Global":[140],"well-posedness":[141],"laws":[145],"achieved":[147],"by":[148],"means":[149],"new":[152],"algebraic":[153],"property":[154],"mass":[157],"matrix.":[158],"Simulations,":[159],"comparisons":[160],"existing":[162],"strategies,":[164],"experimental":[166],"results":[167],"on":[168],"two-link":[170],"manipulator":[171],"verify":[172],"soundness":[174],"proposed":[177],"approach.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
