{"id":"https://openalex.org/W4392763637","doi":"https://doi.org/10.3390/robotics13030048","title":"Trajectory Tracking and Disturbance Rejection Performance Analysis of Classical and Advanced Controllers for a SCORBOT Robot","display_name":"Trajectory Tracking and Disturbance Rejection Performance Analysis of Classical and Advanced Controllers for a SCORBOT Robot","publication_year":2024,"publication_date":"2024-03-13","ids":{"openalex":"https://openalex.org/W4392763637","doi":"https://doi.org/10.3390/robotics13030048"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13030048","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030048","pdf_url":"https://www.mdpi.com/2218-6581/13/3/48/pdf?version=1710340632","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/3/48/pdf?version=1710340632","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057942687","display_name":"John Kern","orcid":"https://orcid.org/0000-0003-1958-7289"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"John Kern","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0003-1958-7289","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033485764","display_name":"Claudio Urrea","orcid":"https://orcid.org/0000-0001-7197-8928"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Claudio Urrea","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0001-7197-8928","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079150939","display_name":"Humberto Verdejo","orcid":null},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Humberto Verdejo","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079513825","display_name":"Rayko Agramonte","orcid":"https://orcid.org/0000-0002-7395-5874"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Rayko Agramonte","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0002-7395-5874","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086625764","display_name":"Cristhian Becker","orcid":null},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Cristhian Becker","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0001-6943-5086","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033485764"],"corresponding_institution_ids":["https://openalex.org/I10457146"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.597,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60087817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"13","issue":"3","first_page":"48","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9988999962806702,"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":0.8285530805587769},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7312981486320496},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6496508717536926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5538512468338013},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5418269634246826},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5345643758773804},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5287582278251648},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4791371524333954},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4627179503440857},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.426455020904541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39126694202423096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38016369938850403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20372611284255981},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18716463446617126},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.14035329222679138},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07481792569160461},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06795477867126465}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8285530805587769},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7312981486320496},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6496508717536926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5538512468338013},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5418269634246826},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5345643758773804},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5287582278251648},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4791371524333954},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4627179503440857},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.426455020904541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39126694202423096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38016369938850403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20372611284255981},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18716463446617126},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.14035329222679138},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07481792569160461},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06795477867126465},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13030048","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030048","pdf_url":"https://www.mdpi.com/2218-6581/13/3/48/pdf?version=1710340632","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8bdf743a0b26403c87eab3a20b190f0d","is_oa":false,"landing_page_url":"https://doaj.org/article/8bdf743a0b26403c87eab3a20b190f0d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"Robotics, Vol 13, Iss 3, p 48 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13030048","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030048","pdf_url":"https://www.mdpi.com/2218-6581/13/3/48/pdf?version=1710340632","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392763637.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W109339162","https://openalex.org/W2049094666","https://openalex.org/W2056346542","https://openalex.org/W2082136361","https://openalex.org/W2107556236","https://openalex.org/W2125848133","https://openalex.org/W2163648109","https://openalex.org/W2290458263","https://openalex.org/W2292259621","https://openalex.org/W2305942952","https://openalex.org/W2337448752","https://openalex.org/W2463917985","https://openalex.org/W2496684058","https://openalex.org/W2548938826","https://openalex.org/W2557055507","https://openalex.org/W2623567422","https://openalex.org/W2734755795","https://openalex.org/W2736087737","https://openalex.org/W2765094417","https://openalex.org/W2790693807","https://openalex.org/W2808823341","https://openalex.org/W2811378406","https://openalex.org/W2892614246","https://openalex.org/W2926297396","https://openalex.org/W2993180496","https://openalex.org/W3040506852","https://openalex.org/W4236044130","https://openalex.org/W4244382749","https://openalex.org/W4254792292","https://openalex.org/W4293439273","https://openalex.org/W4376274824"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2922503265","https://openalex.org/W3101820272","https://openalex.org/W1975104796","https://openalex.org/W2112389631","https://openalex.org/W2103107162"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,12,21,32,35,38,41,46,58,69,81,85,88,107,111,117,128],"design":[4],"and":[5,14,37,55,57,64,87,127,138],"assessment":[6],"of":[7,16,24,34,40,84,90,110,116,140],"four":[8],"control":[9,51,61],"schemes":[10],"for":[11,93],"monitoring":[13],"regulation":[15],"joint":[17,109,125],"trajectories":[18],"applied":[19],"in":[20],"dynamic":[22],"model":[23],"a":[25,72],"SCORBOT-ER":[26],"V":[27],"plus":[28],"robot,":[29],"which":[30],"includes":[31],"dynamics":[33],"actuators,":[36],"estimation":[39],"friction":[42],"forces":[43],"present":[44],"within":[45],"joints.":[47],"The":[48],"two":[49,59],"classical":[50],"strategies":[52],"calculated":[53],"torque":[54],"PID,":[56],"advanced":[60],"strategies,":[62],"fuzzy":[63],"predictive,":[65],"are":[66,98],"considered.":[67],"In":[68],"latter":[70],"case,":[71],"gravitational":[73],"compensation":[74],"stage":[75],"is":[76,120],"incorporated,":[77],"as":[78,80],"well":[79],"inverse":[82],"models":[83],"motors":[86],"transmissions":[89],"belt":[91],"movement":[92],"each":[94],"joint.":[95],"Computational":[96],"tests":[97],"performed":[99],"by":[100],"applying":[101],"an":[102,114],"external":[103],"step-type":[104],"disturbance":[105],"to":[106],"third":[108],"robot.":[112],"Finally,":[113],"evaluation":[115],"results":[118],"obtained":[119],"presented":[121],"through":[122],"trajectory":[123],"curves,":[124],"errors,":[126],"three":[129],"performance":[130],"indexes":[131],"residual":[132,135],"mean":[133],"square,":[134],"standard":[136],"deviation,":[137],"index":[139],"agreement.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
