{"id":"https://openalex.org/W2168469186","doi":"https://doi.org/10.1109/tro.2004.829481","title":"State Observer-Based Robust Control Scheme for Electrically Driven Robot Manipulators","display_name":"State Observer-Based Robust Control Scheme for Electrically Driven Robot Manipulators","publication_year":2004,"publication_date":"2004-08-01","ids":{"openalex":"https://openalex.org/W2168469186","doi":"https://doi.org/10.1109/tro.2004.829481","mag":"2168469186"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2004.829481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2004.829481","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":true,"oa_status":"green","oa_url":"https://kyutech.repo.nii.ac.jp/records/731","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111505336","display_name":"M. Oya","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Oya","raw_affiliation_strings":["Department of Control Engineering, Kyushu Institute of technology, Kitakyushu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Kyushu Institute of technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344084","display_name":"Cheng Su","orcid":"https://orcid.org/0000-0002-3822-3221"},"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":"C.-Y. Su","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108562403","display_name":"Toshiya Kobayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Kobayashi","raw_affiliation_strings":["Department of Control Engineering, Kyushu Institute of technology, Kitakyushu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Kyushu Institute of technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1005,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95734916,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"20","issue":"4","first_page":"796","last_page":"804"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control 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/T10791","display_name":"Advanced Control Systems Optimization","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/control-theory","display_name":"Control theory (sociology)","score":0.8957384824752808},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5257040858268738},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5235987901687622},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5025794506072998},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5003364086151123},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5001904964447021},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4820628762245178},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4788260757923126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45212414860725403},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4458395838737488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4419171214103699},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.4314690828323364},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2676139175891876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26106005907058716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23220184445381165},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1431002914905548}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8957384824752808},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5257040858268738},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5235987901687622},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5025794506072998},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5003364086151123},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5001904964447021},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4820628762245178},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4788260757923126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45212414860725403},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4458395838737488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4419171214103699},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4314690828323364},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2676139175891876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26106005907058716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23220184445381165},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1431002914905548},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2004.829481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2004.829481","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"},{"id":"pmh:oai:irdb.nii.ac.jp:01216:0000924543","is_oa":true,"landing_page_url":"https://kyutech.repo.nii.ac.jp/records/731","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on]","raw_type":"journal article"},{"id":"pmh:oai:kyutech.repo.nii.ac.jp:00000731","is_oa":false,"landing_page_url":"http://hdl.handle.net/10228/979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"VoR"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01216:0000924543","is_oa":true,"landing_page_url":"https://kyutech.repo.nii.ac.jp/records/731","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on]","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1504907432","https://openalex.org/W1596951786","https://openalex.org/W1611946480","https://openalex.org/W1900034233","https://openalex.org/W1924715763","https://openalex.org/W1932150375","https://openalex.org/W1937885108","https://openalex.org/W1969053631","https://openalex.org/W1969301002","https://openalex.org/W1981057608","https://openalex.org/W2051705554","https://openalex.org/W2055493344","https://openalex.org/W2057550830","https://openalex.org/W2085837623","https://openalex.org/W2088709401","https://openalex.org/W2099276581","https://openalex.org/W2101033410","https://openalex.org/W2124458291","https://openalex.org/W2125789925","https://openalex.org/W2139267874","https://openalex.org/W2142350423","https://openalex.org/W2148896337","https://openalex.org/W2160597792","https://openalex.org/W2589132715","https://openalex.org/W4255769366"],"related_works":["https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W2152839317","https://openalex.org/W1520924231","https://openalex.org/W1550017747"],"abstract_inverted_index":{"By":[0],"using":[1,82],"a":[2,5],"state":[3],"observer,":[4],"new":[6],"robust":[7,42],"trajectory":[8],"tracking":[9,45,59,91,123],"control":[10],"scheme":[11],"is":[12,27,76,120],"developed":[13],"in":[14,78],"this":[15],"paper":[16],"for":[17,110],"electrically":[18],"driven":[19],"robot":[20],"manipulators.":[21],"The":[22,33],"role":[23],"of":[24,44,57,63,90],"the":[25,58,61,64,79,83,87,111],"observer":[26],"to":[28,115,126],"estimate":[29],"joint":[30,48],"angular":[31],"velocities.":[32],"proposed":[34,65,84],"controller":[35,66,85],"does":[36],"not":[37],"employ":[38],"adaptation,":[39],"but":[40],"assures":[41],"stability":[43,56],"error":[46],"between":[47],"angles":[49],"and":[50],"desired":[51,112],"trajectories.":[52],"At":[53],"sacrificing":[54],"asymptotical":[55],"errors,":[60],"configuration":[62],"becomes":[67],"very":[68],"simple,":[69],"compared":[70],"with":[71,99],"regressor-based":[72],"adaptive":[73],"controllers.":[74],"It":[75],"shown":[77],"closed-loop":[80],"system":[81],"that":[86,122],"Euclidian":[88],"norm":[89],"errors":[92,124],"arrives":[93],"at":[94],"any":[95,100],"small":[96],"closed":[97],"region":[98],"convergent":[101],"rate":[102],"by":[103],"setting":[104],"only":[105],"one":[106],"design":[107],"parameter.":[108],"Especially":[109],"trajectories":[113],"converging":[114],"constant":[116],"ultimate":[117],"values,":[118],"it":[119],"assured":[121],"converge":[125],"zero.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
