{"id":"https://openalex.org/W2034836904","doi":"https://doi.org/10.1163/156855389x00244","title":"A multi-microprocessor-based decentralized adaptive controller for a robotic manipulator","display_name":"A multi-microprocessor-based decentralized adaptive controller for a robotic manipulator","publication_year":1988,"publication_date":"1988-01-01","ids":{"openalex":"https://openalex.org/W2034836904","doi":"https://doi.org/10.1163/156855389x00244","mag":"2034836904"},"language":"en","primary_location":{"id":"doi:10.1163/156855389x00244","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855389x00244","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/A5100648949","display_name":"Meihua Liu","orcid":"https://orcid.org/0000-0003-0628-1002"},"institutions":[{"id":"https://openalex.org/I198357462","display_name":"Changsha University","ror":"https://ror.org/011d8sm39","country_code":"CN","type":"education","lineage":["https://openalex.org/I198357462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei-Hua Liu","raw_affiliation_strings":["Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China","institution_ids":["https://openalex.org/I198357462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048099553","display_name":"Chang Wen-sen","orcid":null},"institutions":[{"id":"https://openalex.org/I198357462","display_name":"Changsha University","ror":"https://ror.org/011d8sm39","country_code":"CN","type":"education","lineage":["https://openalex.org/I198357462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-Sen Chang","raw_affiliation_strings":["Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China","institution_ids":["https://openalex.org/I198357462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036779666","display_name":"Liangqi Zhang","orcid":"https://orcid.org/0000-0003-0782-4849"},"institutions":[{"id":"https://openalex.org/I198357462","display_name":"Changsha University","ror":"https://ror.org/011d8sm39","country_code":"CN","type":"education","lineage":["https://openalex.org/I198357462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang-Qi Zhang","raw_affiliation_strings":["Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Changsha Institute of Technology, Changsha, P.R. China","institution_ids":["https://openalex.org/I198357462"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198357462"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20899646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":"4","first_page":"291","last_page":"309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.996399998664856,"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":0.996399998664856,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6935433149337769},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6572245955467224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6013596653938293},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5958822965621948},{"id":"https://openalex.org/keywords/microprocessor","display_name":"Microprocessor","score":0.5722853541374207},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5553028583526611},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5333958268165588},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5080054402351379},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4754571318626404},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4709426164627075},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.437654048204422},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4330034554004669},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41711172461509705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38308557868003845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2566152811050415},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19362995028495789},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18249961733818054},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1709158718585968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11177456378936768},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.07961592078208923}],"concepts":[{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6935433149337769},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6572245955467224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6013596653938293},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5958822965621948},{"id":"https://openalex.org/C2780728072","wikidata":"https://www.wikidata.org/wiki/Q5297","display_name":"Microprocessor","level":2,"score":0.5722853541374207},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5553028583526611},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5333958268165588},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5080054402351379},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4754571318626404},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4709426164627075},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.437654048204422},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4330034554004669},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41711172461509705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38308557868003845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2566152811050415},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19362995028495789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18249961733818054},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1709158718585968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11177456378936768},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.07961592078208923},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855389x00244","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855389x00244","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":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1966552874","https://openalex.org/W1977491822","https://openalex.org/W1979554781","https://openalex.org/W1985893431","https://openalex.org/W1991102327","https://openalex.org/W2002519566","https://openalex.org/W2006813793","https://openalex.org/W2012301293","https://openalex.org/W2018197200","https://openalex.org/W2035066506","https://openalex.org/W2043204719","https://openalex.org/W2056154217","https://openalex.org/W2071692742","https://openalex.org/W2080017937","https://openalex.org/W2081417772","https://openalex.org/W2086911732","https://openalex.org/W2096141213","https://openalex.org/W2132294818","https://openalex.org/W2132560048","https://openalex.org/W2141250450","https://openalex.org/W2141485293","https://openalex.org/W2165643318","https://openalex.org/W4256642241"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2331363374","https://openalex.org/W4361186078","https://openalex.org/W2329712830","https://openalex.org/W2391397427","https://openalex.org/W2373585563","https://openalex.org/W2998185885","https://openalex.org/W1639816509","https://openalex.org/W2159353126","https://openalex.org/W3146509177"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,30,35,52],"simple":[4],"and":[5,34,90],"efficient":[6],"decentralized":[7,41],"adaptive":[8,42],"controller":[9,43],"for":[10,39],"robotic":[11],"manipulators":[12],"is":[13,32,44,79],"presented;":[14],"the":[15,26,40,64,70,74,83,87,91],"explicit":[16,88],"recursive":[17],"Newton-Euler":[18],"dynamic":[19],"model,":[20],"which":[21],"takes":[22],"full":[23],"advantage":[24],"of":[25,29,58,69,73,86],"specific":[27],"structure":[28],"manipulator,":[31],"developed;":[33],"multi-microprocessor-based":[36],"implemental":[37],"scheme":[38],"proposed.":[45],"Some":[46],"typical":[47],"computer":[48],"simulation":[49],"results":[50],"on":[51],"PUMA-like":[53],"manipulator":[54],"with":[55],"three":[56],"degrees":[57],"freedom":[59],"are":[60],"given":[61],"to":[62,81],"demonstrate":[63],"control":[65],"effectiveness.":[66],"An":[67],"analysis":[68],"computational":[71],"complexity":[72],"algorithm,":[75],"using":[76],"PUMA":[77],"560,":[78],"presented":[80],"show":[82],"high":[84],"efficiency":[85],"model":[89],"implementational":[92],"scheme.":[93]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}