{"id":"https://openalex.org/W1497318221","doi":"https://doi.org/10.23919/ecc.2013.6669495","title":"Performance analysis of relay feedback position regulators for manipulators with Coulomb friction","display_name":"Performance analysis of relay feedback position regulators for manipulators with Coulomb friction","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1497318221","doi":"https://doi.org/10.23919/ecc.2013.6669495","mag":"1497318221"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669495","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5091082682","display_name":"Luis T. Aguilar","orcid":"https://orcid.org/0000-0001-6603-6485"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Luis T. Aguilar","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional, CITEDI, Tijuana, B.C., Mexico","Inst. Politec. Nac., CITEDI, Tijuana, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional, CITEDI, Tijuana, B.C., Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac., CITEDI, Tijuana, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042747240","display_name":"Leonid B. Freidovich","orcid":"https://orcid.org/0000-0003-0730-9441"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Leonid B. Freidovich","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Ume\u00e5, Sweden;","Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Ume\u00e5, Sweden;","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039781735","display_name":"Yury Orlov","orcid":"https://orcid.org/0000-0001-9114-0436"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Yury Orlov","raw_affiliation_strings":["Department of Electronics and Telecommunications, Mexican Scientific Research and Advanced Studies Center (CICESE), Ensenada, B.C., Mexico","Dept. of Electron. & Telecommun., Mexican Sci. Res. & Adv. Studies Center (CICESE), Ensenada, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications, Mexican Scientific Research and Advanced Studies Center (CICESE), Ensenada, B.C., Mexico","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"Dept. of Electron. & Telecommun., Mexican Sci. Res. & Adv. Studies Center (CICESE), Ensenada, Mexico","institution_ids":["https://openalex.org/I64663401"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085355977","display_name":"Jov\u00e1n Oseas M\u00e9rida Rubio","orcid":"https://orcid.org/0000-0002-9355-4787"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jovan Merida","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional, CITEDI, Tijuana, B.C., Mexico","Inst. Politec. Nac., CITEDI, Tijuana, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional, CITEDI, Tijuana, B.C., Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac., CITEDI, Tijuana, Mexico","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.02095363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3754","last_page":"3759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9977999925613403,"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":0.8380289077758789},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6124930381774902},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6091992855072021},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6002155542373657},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5604069828987122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5344566106796265},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5301557183265686},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.506253182888031},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.49861574172973633},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4549807906150818},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4529619514942169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4323880076408386},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.415982723236084},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.382385790348053},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.307746946811676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23060712218284607},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1706956923007965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13286706805229187}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8380289077758789},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6124930381774902},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6091992855072021},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6002155542373657},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5604069828987122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5344566106796265},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5301557183265686},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.506253182888031},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49861574172973633},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4549807906150818},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4529619514942169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4323880076408386},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.415982723236084},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.382385790348053},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.307746946811676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23060712218284607},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1706956923007965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13286706805229187},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2013.6669495","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W633013857","https://openalex.org/W1509235676","https://openalex.org/W1577242356","https://openalex.org/W1994688595","https://openalex.org/W2050205901","https://openalex.org/W2615863795"],"related_works":["https://openalex.org/W2539674285","https://openalex.org/W1998322187","https://openalex.org/W1038122923","https://openalex.org/W2952514781","https://openalex.org/W3019210376","https://openalex.org/W2391145594","https://openalex.org/W2326572623","https://openalex.org/W1559320887","https://openalex.org/W2005713623","https://openalex.org/W2594727502"],"abstract_inverted_index":{"The":[0],"purpose":[1],"of":[2,10,42,44,69,79,99,114,118],"the":[3,8,22,33,36,40,45,54,60,70,86,96,103,108,111,116,119,125,129],"paper":[4],"is":[5,38,50,131],"to":[6,106],"analyze":[7],"performance":[9,93],"several":[11],"global":[12],"position":[13],"regulators":[14],"for":[15,59,92],"robot":[16,83],"manipulators":[17],"with":[18,62],"Coulomb":[19],"friction.":[20],"All":[21],"controllers":[23,37,61,72],"include":[24],"a":[25,29,80],"proportional-differential":[26],"part":[27,31],"and":[28,63],"switched":[30],"whereas":[32],"difference":[34],"between":[35],"in":[39,75],"way":[41],"compensation":[43],"gravitational":[46],"forces.":[47],"Stability":[48],"analysis":[49],"also":[51],"revisited":[52],"within":[53],"nonsmooth":[55],"Lyapunov":[56],"function":[57],"framework":[58],"without":[64],"gravity":[65],"pre-compensation.":[66],"Performance":[67],"issues":[68],"proposed":[71],"are":[73],"evaluated":[74],"an":[76],"experimental":[77],"study":[78],"five":[81],"degrees-of-freedom":[82],"manipulator.":[84],"In":[85,95,110],"experiments,":[87,100,115],"we":[88,101],"choose":[89],"two":[90],"criteria":[91],"analysis.":[94],"first":[97],"set":[98,102,113],"same":[104],"gains":[105,117],"all":[107],"controllers.":[109],"second":[112],"controller":[120],"were":[121],"chosen":[122],"such":[123],"that":[124],"work":[126],"done":[127],"by":[128],"manipulator":[130],"similar.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
