{"id":"https://openalex.org/W1506359928","doi":"https://doi.org/10.23919/ecc.2001.7076065","title":"Control of a four-link lightweight manipulator arm using fast output sampling","display_name":"Control of a four-link lightweight manipulator arm using fast output sampling","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1506359928","doi":"https://doi.org/10.23919/ecc.2001.7076065","mag":"1506359928"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7076065","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076065","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/A5114186858","display_name":"J. Uhlig","orcid":null},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Uhlig","raw_affiliation_strings":["Lehrstuhl für Elektrische Steuerung und Regelung (ESR) Fakultät für Elektrotechnik und Informationstechnik, Ruhr-Universität Bochum, 44780 Bochum, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lehrstuhl für Elektrische Steuerung und Regelung (ESR) Fakultät für Elektrotechnik und Informationstechnik, Ruhr-Universität Bochum, 44780 Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022335223","display_name":"Herbert Werner","orcid":"https://orcid.org/0000-0003-3456-5539"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"H. Werner","raw_affiliation_strings":["Control Systems Centre, University of Manchester Institute of Science and Technology (UMIST) PO Box 88, Manchester M60 1QD, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Centre, University of Manchester Institute of Science and Technology (UMIST) PO Box 88, Manchester M60 1QD, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012292492","display_name":"A. Blaut","orcid":null},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Blaut","raw_affiliation_strings":["Lehrstuhl für Elektrische Steuerung und Regelung (ESR) Fakultät für Elektrotechnik und Informationstechnik, Ruhr-Universität Bochum, 44780 Bochum, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lehrstuhl für Elektrische Steuerung und Regelung (ESR) Fakultät für Elektrotechnik und Informationstechnik, Ruhr-Universität Bochum, 44780 Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05194238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1117","last_page":"1122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.998199999332428,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.998199999332428,"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/T11236","display_name":"Control Systems and Identification","score":0.9962999820709229,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9962999820709229,"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":0.873482882976532},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6264123320579529},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5915780663490295},{"id":"https://openalex.org/keywords/output-feedback","display_name":"Output feedback","score":0.5716788172721863},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.538726806640625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5377611517906189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360066890716553},{"id":"https://openalex.org/keywords/full-state-feedback","display_name":"Full state feedback","score":0.5135653018951416},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49954891204833984},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.46666520833969116},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43010902404785156},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42968106269836426},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.42701494693756104},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39855000376701355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31719595193862915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2274666428565979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08881527185440063}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.873482882976532},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6264123320579529},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5915780663490295},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.5716788172721863},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.538726806640625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5377611517906189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360066890716553},{"id":"https://openalex.org/C204322392","wikidata":"https://www.wikidata.org/wiki/Q925922","display_name":"Full state feedback","level":3,"score":0.5135653018951416},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49954891204833984},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.46666520833969116},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43010902404785156},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42968106269836426},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.42701494693756104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39855000376701355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31719595193862915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2274666428565979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08881527185440063},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/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.2001.7076065","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076065","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":[{"id":"https://metadata.un.org/sdg/7","score":0.47999998927116394,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1449637","https://openalex.org/W119562511","https://openalex.org/W1550168969","https://openalex.org/W1927724887","https://openalex.org/W2176763884"],"related_works":["https://openalex.org/W2151714450","https://openalex.org/W2249860687","https://openalex.org/W2139918612","https://openalex.org/W2096518099","https://openalex.org/W1966169071","https://openalex.org/W2059568278","https://openalex.org/W2103429782","https://openalex.org/W3047092141","https://openalex.org/W2169519002","https://openalex.org/W2022397612"],"abstract_inverted_index":{"A":[0],"robust":[1,94],"multi-model":[2,95],"design":[3,33,76],"approach":[4,96],"is":[5,18,68],"used":[6,69],"to":[7,32,70],"control":[8],"a":[9,21,34,45,63],"four-link":[10],"lightweight":[11],"manipulator":[12],"arm.":[13],"The":[14,80],"nonlinear":[15],"plant":[16],"model":[17],"linearized":[19],"in":[20,44,86],"number":[22],"of":[23],"operating":[24],"points,":[25],"and":[26,62,89],"recent":[27],"LMI":[28],"methods":[29],"are":[30,57],"employed":[31],"linear":[35],"state":[36,74],"feedback":[37,75],"controller":[38,82],"that":[39],"places":[40],"the":[41,54,73],"closed-loop":[42],"poles":[43],"desired":[46],"pole":[47],"region":[48],"simultaneously":[49],"for":[50,59],"all":[51],"models.":[52],"Only":[53],"joint":[55],"angles":[56],"available":[58],"feedback,":[60],"however,":[61],"fast":[64],"output":[65,78],"sampling":[66],"technique":[67],"robustly":[71],"realize":[72],"by":[77],"feedback.":[79],"resulting":[81],"has":[83],"been":[84],"testet":[85],"real-time":[87],"experiments":[88],"compared":[90],"with":[91],"an":[92],"observer-based":[93],"reported":[97],"earlier.":[98]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}