{"id":"https://openalex.org/W4413392746","doi":"https://doi.org/10.23919/acc63710.2025.11107800","title":"Model-Free Generic Robust Control for Servo-Driven Actuation Mechanisms with Layered Insight into Energy Conversions","display_name":"Model-Free Generic Robust Control for Servo-Driven Actuation Mechanisms with Layered Insight into Energy Conversions","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413392746","doi":"https://doi.org/10.23919/acc63710.2025.11107800"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107800","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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/A5030894291","display_name":"Mehdi Heydari Shahna","orcid":"https://orcid.org/0000-0002-1310-5392"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Mehdi Heydari Shahna","raw_affiliation_strings":["Tampere University,Faculty of Engineering and Natural Sciences,Tampere,Finland"],"affiliations":[{"raw_affiliation_string":"Tampere University,Faculty of Engineering and Natural Sciences,Tampere,Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Tampere University,Faculty of Engineering and Natural Sciences,Tampere,Finland"],"affiliations":[{"raw_affiliation_string":"Tampere University,Faculty of Engineering and Natural Sciences,Tampere,Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5030894291"],"corresponding_institution_ids":["https://openalex.org/I166825849"],"apc_list":null,"apc_paid":null,"fwci":0.8041,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74393369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4331","last_page":"4338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9884999990463257,"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/T13644","display_name":"Control Systems in Engineering","score":0.9884999990463257,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9860000014305115,"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":0.9847999811172485,"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":0.5955959558486938},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.577656626701355},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5344964861869812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301998853683472},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5270540714263916},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.509870171546936},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49392300844192505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4854212701320648},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4490533471107483},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2602023482322693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2093222439289093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14034360647201538},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13262838125228882},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10862818360328674}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5955959558486938},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.577656626701355},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5344964861869812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301998853683472},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5270540714263916},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.509870171546936},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49392300844192505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4854212701320648},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4490533471107483},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2602023482322693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2093222439289093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14034360647201538},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13262838125228882},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10862818360328674},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc63710.2025.11107800","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/229974","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/229974","pdf_url":null,"source":{"id":"https://openalex.org/S7407055260","display_name":"Trepo - Institutional Repository of Tampere University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320328501","display_name":"Business Finland","ror":"https://ror.org/05bgf9v38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1548067494","https://openalex.org/W2006676176","https://openalex.org/W2006910871","https://openalex.org/W2460221038","https://openalex.org/W2578154675","https://openalex.org/W2588172569","https://openalex.org/W2605557236","https://openalex.org/W2607112850","https://openalex.org/W2753085442","https://openalex.org/W2802890888","https://openalex.org/W2944206801","https://openalex.org/W2945300022","https://openalex.org/W3006230757","https://openalex.org/W3162016902","https://openalex.org/W3176975907","https://openalex.org/W4210418514","https://openalex.org/W4220701368","https://openalex.org/W4310053496","https://openalex.org/W4319999922","https://openalex.org/W4386155058","https://openalex.org/W4389334359","https://openalex.org/W4390827406","https://openalex.org/W4391631283","https://openalex.org/W4400077757","https://openalex.org/W4403759690","https://openalex.org/W4405804668","https://openalex.org/W4407951718"],"related_works":["https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2002921851","https://openalex.org/W2071544734","https://openalex.org/W2011726581","https://openalex.org/W2133950947","https://openalex.org/W2895398410","https://openalex.org/W2348363276","https://openalex.org/W3005237993","https://openalex.org/W2071272545"],"abstract_inverted_index":{"To":[0],"advance":[1],"theoretical":[2],"solutions":[3],"and":[4,16,61,91,111,117,139,153],"address":[5],"limitations":[6],"in":[7,155],"modeling":[8],"complex":[9,56],"servo-driven":[10,108],"actuation":[11],"systems":[12,45,75],"experiencing":[13],"high":[14],"non-linearity":[15],"load":[17,115],"disturbances,":[18,116],"this":[19,68],"paper":[20],"aims":[21],"to":[22,39,63,168],"design":[23],"a":[24],"practical":[25],"model-free":[26],"generic":[27],"robust":[28],"control":[29,64,128,136],"(GRC)":[30],"framework":[31,36],"for":[32,130],"these":[33],"mechanisms.":[34],"This":[35,96],"is":[37,76],"intended":[38],"be":[40],"applicable":[41],"across":[42],"all":[43],"actuator":[44,74,88,109,147],"encompassing":[46],"electrical,":[47],"hydraulic,":[48],"or":[49],"pneumatic":[50],"servomechanisms,":[51],"while":[52],"also":[53],"functioning":[54],"within":[55],"interactions":[57],"among":[58],"dynamic":[59],"components":[60],"adhering":[62],"input":[65,137],"constraints.":[66],"In":[67],"respect,":[69],"the":[70,83,100,103,107,123,140,145],"state-space":[71],"model":[72,105],"of":[73,87,106],"decomposed":[77],"into":[78],"smaller":[79],"subsystems":[80],"that":[81,102],"incorporate":[82],"first":[84],"principle":[85],"equation":[86],"motion":[89],"dynamics":[90],"interactive":[92,142],"energy":[93,112],"conversion":[94],"equations.":[95],"decomposition":[97],"operates":[98],"under":[99],"assumption":[101],"comprehensive":[104],"system":[110,143],"conversion,":[113],"uncertainties,":[114],"their":[118],"bounds":[119],"are":[120],"unknown.":[121],"Then,":[122],"GRC":[124],"employs":[125],"subsystem-based":[126],"adaptive":[127],"strategies":[129],"each":[131],"state-variant":[132],"subsystem":[133],"separately.":[134],"Despite":[135],"constraints":[138],"unknown":[141],"model,":[144],"GRC-applied":[146],"mechanism":[148],"ensures":[149],"uniform":[150],"exponential":[151],"stability":[152],"robustness":[154],"tracking":[156],"desired":[157],"motions.":[158],"It":[159],"features":[160],"straightforward":[161],"implementation,":[162],"experimentally":[163],"evaluated":[164],"by":[165],"applying":[166],"it":[167],"two":[169],"industrial":[170],"applications.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
