{"id":"https://openalex.org/W2069649454","doi":"https://doi.org/10.1163/016918611x607365","title":"An Adaptive Controller Dominant-Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators","display_name":"An Adaptive Controller Dominant-Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W2069649454","doi":"https://doi.org/10.1163/016918611x607365","mag":"2069649454"},"language":"en","primary_location":{"id":"doi:10.1163/016918611x607365","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x607365","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5013723808","display_name":"Munadi Munadi","orcid":"https://orcid.org/0000-0002-0766-0955"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Munadi","raw_affiliation_strings":["a    System Design Engineering, Graduate School of Engineering, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan;, Email: munadi@rbt.his.u-fukui.ac.jp","System Design Engineering, Graduate School of Engineering, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan;, Email: munadi@rbt.his.u-fukui.ac.jp"],"affiliations":[{"raw_affiliation_string":"a    System Design Engineering, Graduate School of Engineering, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan;, Email: munadi@rbt.his.u-fukui.ac.jp","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"System Design Engineering, Graduate School of Engineering, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan;, Email: munadi@rbt.his.u-fukui.ac.jp","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088598964","display_name":"T. Naniwa","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohide Naniwa","raw_affiliation_strings":["b    Department of Human and Artificial Intelligent Systems, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan","Department of Human and Artificial Intelligent Systems, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Human and Artificial Intelligent Systems, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Department of Human and Artificial Intelligent Systems, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan","institution_ids":["https://openalex.org/I111966504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013723808"],"corresponding_institution_ids":["https://openalex.org/I111966504"],"apc_list":null,"apc_paid":null,"fwci":1.6891,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86809144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"26","issue":"1-2","first_page":"45","last_page":"61"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9472000002861023,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9239000082015991,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8123606443405151},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7659263610839844},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7566941380500793},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.594088613986969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5533754229545593},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.499622106552124},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4385238289833069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43350526690483093},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4236072897911072},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37434297800064087},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27885186672210693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2530224919319153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.229416161775589}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8123606443405151},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7659263610839844},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7566941380500793},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.594088613986969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5533754229545593},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.499622106552124},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4385238289833069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43350526690483093},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4236072897911072},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37434297800064087},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27885186672210693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2530224919319153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.229416161775589},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918611x607365","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x607365","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1516855539","https://openalex.org/W1821012234","https://openalex.org/W1956354748","https://openalex.org/W1970894213","https://openalex.org/W1981903648","https://openalex.org/W1991837556","https://openalex.org/W1996208964","https://openalex.org/W2023462027","https://openalex.org/W2028875588","https://openalex.org/W2083483041","https://openalex.org/W2094290165","https://openalex.org/W2096369655","https://openalex.org/W2097238897","https://openalex.org/W2097487411","https://openalex.org/W2113762663","https://openalex.org/W2116243329","https://openalex.org/W2131443288","https://openalex.org/W2139267874","https://openalex.org/W2146396918","https://openalex.org/W2149364867","https://openalex.org/W2165878769","https://openalex.org/W2166645794","https://openalex.org/W2170607524","https://openalex.org/W2323540957","https://openalex.org/W2330489944","https://openalex.org/W3147337328","https://openalex.org/W4243528189"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2018658498","https://openalex.org/W2183044774","https://openalex.org/W1814814472","https://openalex.org/W1991810297","https://openalex.org/W1819950161"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,42,49,83,112],"new":[4],"hybrid":[5,53],"adaptive":[6,15,51,104,118,142],"and":[7,21,100,122,159,199],"learning":[8,18,79,92,168],"control":[9,19,23,69,80,93,119,127,132,143,156,169],"method":[10,190],"based":[11],"on":[12],"combining":[13],"model-based":[14],"control,":[16],"repetitive":[17],"(RLC)":[20],"proportional\u2013derivative":[22],"to":[24,40,86,95,136,183,191,203,216],"consider":[25],"the":[26,63,68,77,88,91,103,126,130,141,146,149,154,167,172,180,188,193,196,205,208,213,217],"periodic":[27,113,173,218],"trajectory":[28,44,115,175,182],"tracking":[29,45,111,215],"problem":[30],"of":[31,36,62,90,125,140,195,207],"robot":[32],"manipulators.":[33],"The":[34,71,138],"aim":[35],"this":[37],"study":[38],"is":[39,74,176],"obtain":[41],"high-accuracy":[43],"controller":[46,54,106,151,198,210],"by":[47,55],"developing":[48],"simpler":[50],"dominant-type":[52,105],"using":[56,76],"only":[57],"one":[58],"vector":[59],"for":[60,110],"estimation":[61],"unknown":[64],"dynamical":[65],"parameters":[66],"in":[67,116,211],"law.":[70],"RLC":[72],"input":[73,94,120,144,157,170],"adopted":[75],"original":[78],"law,":[81],"adding":[82],"forgetting":[84],"factor":[85],"achieve":[87],"convergence":[89],"zero.":[96,137],"We":[97,186],"will":[98],"improve":[99],"prove":[101,192],"that":[102,148],"could":[107,152],"be":[108],"applied":[109],"desired":[114,174,219],"which":[117],"increases":[121],"becomes":[123],"dominant":[124],"input,":[128],"whereas":[129],"other":[131],"inputs":[133],"decrease":[134],"close":[135],"domination":[139],"gives":[145],"advantage":[147],"proposed":[150,197,209],"adjust":[153],"feed-forward":[155],"immediately":[158],"it":[160],"does":[161],"not":[162],"spend":[163],"much":[164],"time":[165],"relearning":[166],"when":[171],"switched":[177],"over":[178],"from":[179],"first":[181],"another":[184],"trajectory.":[185,220],"utilize":[187],"Lyapunovlike":[189],"stability":[194],"computer":[200],"simulation":[201],"results":[202],"validate":[204],"effectiveness":[206],"achieving":[212],"accurate":[214]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}