{"id":"https://openalex.org/W2157577511","doi":"https://doi.org/10.1177/027836499000900305","title":"Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators","display_name":"Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators","publication_year":1990,"publication_date":"1990-06-01","ids":{"openalex":"https://openalex.org/W2157577511","doi":"https://doi.org/10.1177/027836499000900305","mag":"2157577511"},"language":"en","primary_location":{"id":"doi:10.1177/027836499000900305","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499000900305","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5039658470","display_name":"Nader Sadegh","orcid":"https://orcid.org/0000-0003-1117-6311"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nader Sadegh","raw_affiliation_strings":["The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002745879","display_name":"Roberto Horowitz","orcid":"https://orcid.org/0000-0003-2807-0054"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Horowitz","raw_affiliation_strings":["Department of Mechanical Engineering University of California at Berkeley Berkeley, California 94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of California at Berkeley Berkeley, California 94720","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":35.9309,"has_fulltext":false,"cited_by_count":507,"citation_normalized_percentile":{"value":0.99872123,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"9","issue":"3","first_page":"74","last_page":"92"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9966999888420105,"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":0.8634291887283325},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7372499704360962},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5968822836875916},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5892277956008911},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.552849292755127},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5292158722877502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4864466190338135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3522093892097473},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1335299015045166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11147564649581909},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07836756110191345}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8634291887283325},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7372499704360962},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5968822836875916},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5892277956008911},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.552849292755127},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5292158722877502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4864466190338135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3522093892097473},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1335299015045166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11147564649581909},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07836756110191345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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:10.1177/027836499000900305","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499000900305","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1597220786","https://openalex.org/W1946771514","https://openalex.org/W1979554781","https://openalex.org/W1985893431","https://openalex.org/W1998439873","https://openalex.org/W2006512997","https://openalex.org/W2006813793","https://openalex.org/W2011105296","https://openalex.org/W2026769037","https://openalex.org/W2033687389","https://openalex.org/W2050977099","https://openalex.org/W2051560575","https://openalex.org/W2083483041","https://openalex.org/W2097233189","https://openalex.org/W2118204574","https://openalex.org/W2120512179","https://openalex.org/W2133884578","https://openalex.org/W2166364148","https://openalex.org/W2181518697","https://openalex.org/W2280888395","https://openalex.org/W2508193357","https://openalex.org/W2540877599","https://openalex.org/W3139610437","https://openalex.org/W3186362123","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W5922282","https://openalex.org/W2954004777","https://openalex.org/W2949638731","https://openalex.org/W2951102138","https://openalex.org/W4299447939"],"abstract_inverted_index":{"The":[0,19,81],"stability":[1,25,30,43,118],"and":[2,13,26,39,106],"robustness":[3],"properties":[4,20,119],"of":[5,31,44,54,75,96,120,137,140,146],"the":[6,22,32,40,45,52,55,76,85,97,102,107,117,121,125,138,144],"adaptive":[7,46],"control":[8,37,47],"scheme":[9,69,78,83,123,127],"proposed":[10],"by":[11],"Sadegh":[12],"Horowitz":[14],"(1987)":[15],"are":[16,62,128],"stud":[17],"ied.":[18],"include":[21],"global":[23,41],"exponential":[24],"L":[27],"p":[28],"input/output":[29],"nonadaptive":[33],"(i.e.,":[34],"fixed-":[35],"parameter)":[36],"system":[38],"asymptotic":[42],"scheme.":[48],"Sufficient":[49,112],"conditions":[50,113],"for":[51,114],"convergence":[53],"estimated":[56],"parameters":[57],"to":[58],"their":[59],"true":[60],"values":[61],"also":[63,129],"given.":[64],"A":[65,132],"computationally":[66],"efficient":[67],"adaptation":[68,104],"that":[70],"is":[71,79,149],"a":[72,93],"modified":[73,82,126],"version":[74],"original":[77,122],"proposed.":[80],"utilizes":[84],"desired":[86],"trajectory":[87],"outputs,":[88],"which":[89],"can":[90],"be":[91],"calculated":[92],"priori,":[94],"instead":[95],"actual":[98],"joint":[99],"outputs":[100],"in":[101,124,143],"parameter":[103],"algorithm":[105],"non":[108],"linearity":[109],"compensation":[110],"controller.":[111],"guaranteeing":[115],"all":[116],"explicitly":[130],"derived.":[131],"com":[133],"puter":[134],"simulation":[135],"study":[136],"performance":[139],"both":[141],"schemes":[142],"presence":[145],"noise":[147],"disturbances":[148],"conducted.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":20},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}