{"id":"https://openalex.org/W7123336374","doi":"https://doi.org/10.1109/tsmc.2025.3649158","title":"A Real-Time Fault-Tolerant Constrained Control Scheme for Elastic Cable-Driven Robots","display_name":"A Real-Time Fault-Tolerant Constrained Control Scheme for Elastic Cable-Driven Robots","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123336374","doi":"https://doi.org/10.1109/tsmc.2025.3649158"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3649158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3649158","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5042290212","display_name":"Seyed Mahdi Fazeli","orcid":"https://orcid.org/0000-0003-4067-5435"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Seyed Mahdi Fazeli","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075987251","display_name":"Adel Ameri","orcid":"https://orcid.org/0000-0002-0418-0390"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Adel Ameri","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033532337","display_name":"Amir Molaei","orcid":"https://orcid.org/0000-0001-9919-1289"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Molaei","raw_affiliation_strings":["Gina Cody School of Engineering, Concordia University, Montreal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Gina Cody School of Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122897102","display_name":"Amir G. Aghdam","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir G. Aghdam","raw_affiliation_strings":["Gina Cody School of Engineering, Concordia University, Montreal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Gina Cody School of Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058561416","display_name":"Mohammad A. Khosravi","orcid":"https://orcid.org/0000-0003-3619-4911"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad A. Khosravi","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102909891","display_name":"Di Tao Niu","orcid":"https://orcid.org/0000-0001-7467-513X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Di Niu","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042290212"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15888875,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"3","first_page":"2132","last_page":"2142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7053999900817871,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7053999900817871,"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":0.05939999967813492,"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":0.038600001484155655,"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":0.7712000012397766},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6158000230789185},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.526199996471405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5095000267028809},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.48249998688697815},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46549999713897705},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.430400013923645},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4036000072956085}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7712000012397766},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6158000230789185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609999895095825},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.526199996471405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5095000267028809},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.48249998688697815},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46549999713897705},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.430400013923645},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4036000072956085},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3822000026702881},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3596999943256378},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30469998717308044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2896000146865845},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2745000123977661},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.25540000200271606},{"id":"https://openalex.org/C500300565","wikidata":"https://www.wikidata.org/wiki/Q925667","display_name":"Computer simulation","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3649158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3649158","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3],"integrated":[4],"fault-tolerant":[5],"control":[6,11,29],"architecture":[7],"for":[8,54,68],"unidirectional":[9,28],"constrained":[10],"of":[12,40,87,118,127],"elastic":[13,42,55],"cable-driven":[14],"parallel":[15],"robots":[16],"(CDPRs).":[17],"In":[18,31],"CDPRs,":[19,56],"the":[20,32,35,41,88,102,106,119,125],"cable":[21],"tension":[22,37],"can":[23],"only":[24],"be":[25],"positive,":[26],"requiring":[27],"effort.":[30],"proposed":[33,103,120],"structure,":[34],"positive":[36],"distribution":[38],"(PTD)":[39],"CDPR":[43],"is":[44,66,91,110,122],"ensured":[45],"using":[46,93],"a":[47],"prevention":[48],"function.":[49],"Compared":[50],"to":[51,77],"existing":[52],"methods":[53],"this":[57],"new":[58],"technique":[59],"has":[60],"significantly":[61,111],"lower":[62],"computation":[63],"time,":[64],"which":[65],"essential":[67],"real-time":[69],"applications.":[70],"Moreover,":[71],"two":[72],"adaptive":[73],"observers":[74],"are":[75],"utilized":[76],"tackle":[78],"undesirable":[79],"events,":[80],"particularly":[81],"partial":[82],"failures.":[83],"The":[84,97,116],"stability":[85],"analysis":[86],"closed-loop":[89],"system":[90],"provided":[92],"Lyapunov\u2019s":[94],"second":[95],"method.":[96],"simulation":[98],"study":[99],"shows":[100],"that":[101],"method":[104,121],"improves":[105],"tracking":[107],"accuracy":[108],"and":[109,130],"faster":[112],"than":[113],"conventional":[114],"methods.":[115],"effectiveness":[117],"evaluated":[123],"in":[124],"presence":[126],"model":[128],"uncertainties":[129],"various":[131],"faulty":[132],"conditions.":[133]},"counts_by_year":[],"updated_date":"2026-02-24T06:16:03.338239","created_date":"2026-01-14T00:00:00"}
