{"id":"https://openalex.org/W2086556978","doi":"https://doi.org/10.1109/robio.2009.4913003","title":"Control of a redundantly actuated power line inspection robot based on a singular perturbation model","display_name":"Control of a redundantly actuated power line inspection robot based on a singular perturbation model","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2086556978","doi":"https://doi.org/10.1109/robio.2009.4913003","mag":"2086556978"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5011838615","display_name":"Ludan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ludan Wang","raw_affiliation_strings":["Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China"],"affiliations":[{"raw_affiliation_string":"Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079627021","display_name":"Sheng Cheng","orcid":"https://orcid.org/0000-0003-1987-1466"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Cheng","raw_affiliation_strings":["Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China"],"affiliations":[{"raw_affiliation_string":"Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064186202","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-3137-0763"},"institutions":[{"id":"https://openalex.org/I70451448","display_name":"HAW Hamburg","ror":"https://ror.org/00fkqwx76","country_code":"DE","type":"education","lineage":["https://openalex.org/I70451448"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["TAMS, University of Hamburg Germany, China","TAMS, University of Hamburg Germany"],"affiliations":[{"raw_affiliation_string":"TAMS, University of Hamburg Germany, China","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS, University of Hamburg Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085156137","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-9818-587X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China"],"affiliations":[{"raw_affiliation_string":"Center of Robot Engineering and Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Center for Robot Engineering and Cognitive Technology Lab, Shenzhen Institute of Advanced Technology, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011838615"],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.55778895,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73407403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"198","last_page":"203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9998000264167786,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9988999962806702,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8344219326972961},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.620617151260376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6036336421966553},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5822572112083435},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5817236304283142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49419596791267395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4774903953075409},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4742887616157532},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4720108211040497},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44478851556777954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3801884353160858},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18411120772361755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14019179344177246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13815408945083618}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8344219326972961},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.620617151260376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6036336421966553},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5822572112083435},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5817236304283142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49419596791267395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4774903953075409},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4742887616157532},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4720108211040497},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44478851556777954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3801884353160858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18411120772361755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14019179344177246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13815408945083618},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/robio.2009.4913003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1485401962","https://openalex.org/W2041839210","https://openalex.org/W2042246239","https://openalex.org/W2119776372","https://openalex.org/W2137443319","https://openalex.org/W2146662230","https://openalex.org/W2153751619","https://openalex.org/W2162040037","https://openalex.org/W2163781919","https://openalex.org/W2167463026","https://openalex.org/W2168497149","https://openalex.org/W2168580080","https://openalex.org/W2521834715"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W4327639758","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2623488306","https://openalex.org/W1971902905","https://openalex.org/W2006371715","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,80],"the":[4,8,28,34,37,47,50,56,61,64,119,125],"controller":[5,38,126],"design":[6],"of":[7,11,33,90],"walking":[9],"system":[10,66],"a":[12,42,72,76,81,91],"power":[13],"transmission":[14],"line":[15],"inspection":[16],"robot":[17],"that":[18],"is":[19,39],"redundantly":[20],"actuated":[21],"by":[22,60],"two":[23,51,70],"wheels.":[24,52],"After":[25],"an":[26],"analysis":[27],"kinematics":[29],"and":[30,75,102,123,136],"dynamic":[31],"model":[32,44],"driven":[35],"system,":[36],"designed":[40],"as":[41],"master-slave":[43],"to":[45,99,108,133],"avoid":[46],"ldquoconflictrdquo":[48],"between":[49],"To":[53],"effectively":[54],"damp":[55],"elastic":[57],"vibration":[58],"caused":[59],"flexible":[62],"manipulator,":[63],"control":[65,87,95,104],"was":[67,97,106,111],"decomposed":[68],"into":[69],"subsystems,":[71],"slowly-changing":[73],"subsystem":[74,78,101,110],"fast-changing":[77,109],"based":[79],"singular":[82],"perturbation":[83],"model.":[84],"A":[85],"hybrid":[86],"method,":[88],"consisting":[89],"RBF":[92,114],"adaptive":[93,115],"PD":[94],"which":[96,105],"applied":[98,107],"slow-changing":[100],"optimal":[103],"presented.":[112],"The":[113],"algorithm":[116],"can":[117],"estimate":[118],"unknown":[120],"resistance":[121],"on-line":[122],"keep":[124],"stable.":[127],"Simulation":[128],"results":[129],"prove":[130],"this":[131],"method":[132],"be":[134],"reasonable":[135],"effective.":[137]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
