{"id":"https://openalex.org/W1549378060","doi":"https://doi.org/10.23919/ecc.2001.7075910","title":"Multi-controllers approach with fuzzy local controllers. Real-time implementation for a wrist of a robot","display_name":"Multi-controllers approach with fuzzy local controllers. Real-time implementation for a wrist of a robot","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1549378060","doi":"https://doi.org/10.23919/ecc.2001.7075910","mag":"1549378060"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7075910","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7075910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5007117486","display_name":"O. Pag\u00e8s","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"O. Pages","raw_affiliation_strings":["LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109363793","display_name":"Pascal Mouille","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P. Mouille","raw_affiliation_strings":["LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031175992","display_name":"Bernard Caron","orcid":"https://orcid.org/0000-0002-6955-8227"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B. Caron","raw_affiliation_strings":["LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAMII - CESALP: Laboratoire d'Automatique et de Micro-Informatique Industrielle. University of Savoie, 41 avenue de la Plaine, B.P. 806, 74016 Annecy Cedex France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8825,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.66237451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"226","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear 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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976999759674072,"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":0.7351284623146057},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.6492205858230591},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6292445659637451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5933837890625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5734540224075317},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5611506700515747},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5505764484405518},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.54730224609375},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5432584881782532},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4784305691719055},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4700305163860321},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4125632047653198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4029417335987091},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27148157358169556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2106984257698059}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7351284623146057},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.6492205858230591},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6292445659637451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5933837890625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5734540224075317},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5611506700515747},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5505764484405518},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.54730224609375},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5432584881782532},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4784305691719055},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4700305163860321},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4125632047653198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4029417335987091},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27148157358169556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2106984257698059},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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:10.23919/ecc.2001.7075910","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7075910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1995085260","https://openalex.org/W1996340840","https://openalex.org/W2026972764","https://openalex.org/W2072635271","https://openalex.org/W2100563249","https://openalex.org/W2111367974","https://openalex.org/W2129278199","https://openalex.org/W2617529634","https://openalex.org/W2620066102"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W4300511988","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2913529325"],"abstract_inverted_index":{"The":[0,28,44],"goal":[1],"of":[2,10,25,30],"this":[3,31],"paper":[4],"is":[5,33,47],"to":[6,34,48,65],"present":[7],"an":[8],"approach":[9],"the":[11,36,73],"multimodel":[12],"control":[13,37,75],"for":[14,22,72],"a":[15,19,23,26,51,54,78],"nonlinear":[16],"system":[17],"with":[18,57],"real-time":[20],"implementation":[21],"wrist":[24],"robot.":[27],"objective":[29],"method":[32],"blend":[35],"laws":[38],"provided":[39],"by":[40,76],"several":[41],"local":[42,52],"controllers.":[43],"new":[45],"idea":[46],"have":[49],"as":[50],"controller,":[53],"fuzzy":[55,79],"linearization":[56],"pole":[58],"placement":[59],"compensation.":[60],"First,":[61],"they":[62],"are":[63],"needed":[64],"be":[66],"identified.":[67],"We":[68],"then":[69],"use":[70],"them":[71],"multi-model":[74],"applying":[77],"switcher":[80],"(Takagi":[81],"Sugeno":[82],"system).":[83]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
