{"id":"https://openalex.org/W2141781870","doi":"https://doi.org/10.1109/tcst.2009.2035924","title":"Global Asymptotic Saturated PID Control for Robot Manipulators","display_name":"Global Asymptotic Saturated PID Control for Robot Manipulators","publication_year":2009,"publication_date":"2009-12-16","ids":{"openalex":"https://openalex.org/W2141781870","doi":"https://doi.org/10.1109/tcst.2009.2035924","mag":"2141781870"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2009.2035924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2009.2035924","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-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/A5101500797","display_name":"Yuxin Su","orcid":"https://orcid.org/0000-0001-6918-5822"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuxin Su","raw_affiliation_strings":["School of Electro-Mechanical Engineering, Xidian University, Xi'an, China","Sch. of Electro-Mech. Eng., Xidian Univ., Xi'an, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Sch. of Electro-Mech. Eng., Xidian Univ., Xi'an, China#TAB#","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012725411","display_name":"Peter C. M\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter C. Muller","raw_affiliation_strings":["School of Safety Control Engineering, University of Wuppertal, Wuppertal, Germany"],"affiliations":[{"raw_affiliation_string":"School of Safety Control Engineering, University of Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101432766","display_name":"Chunhong Zheng","orcid":"https://orcid.org/0000-0002-0587-4335"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunhong Zheng","raw_affiliation_strings":["School of Electronic Engineering, Xidian University, Xi'an, China","Sch. of Electron. Eng., Xidian Univ., Xi'an, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Sch. of Electron. Eng., Xidian Univ., Xi'an, China#TAB#","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101500797"],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":9.9504,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.97860568,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9994999766349792,"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":0.8528064489364624},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7623744606971741},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6851375699043274},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6210378408432007},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6177270412445068},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5456635355949402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5076812505722046},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.501317024230957},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.48843827843666077},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41358286142349243},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37344396114349365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3253166675567627},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3240277171134949},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.321212500333786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1565619707107544},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10018226504325867},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.06607827544212341}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8528064489364624},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7623744606971741},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6851375699043274},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6210378408432007},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6177270412445068},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5456635355949402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5076812505722046},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.501317024230957},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48843827843666077},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41358286142349243},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37344396114349365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3253166675567627},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3240277171134949},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.321212500333786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1565619707107544},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10018226504325867},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.06607827544212341},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2009.2035924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2009.2035924","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W575905749","https://openalex.org/W1980246867","https://openalex.org/W1989287252","https://openalex.org/W1994688595","https://openalex.org/W1997650413","https://openalex.org/W2000361582","https://openalex.org/W2007661547","https://openalex.org/W2026433584","https://openalex.org/W2027047603","https://openalex.org/W2030593149","https://openalex.org/W2061426040","https://openalex.org/W2062521245","https://openalex.org/W2097077641","https://openalex.org/W2103316572","https://openalex.org/W2108743771","https://openalex.org/W2113963086","https://openalex.org/W2116473704","https://openalex.org/W2120329568","https://openalex.org/W2135608430","https://openalex.org/W2136984159","https://openalex.org/W2142350423","https://openalex.org/W2144511697","https://openalex.org/W2149998106","https://openalex.org/W2158970259","https://openalex.org/W2165475750","https://openalex.org/W2171009881","https://openalex.org/W2171438612","https://openalex.org/W4205362845","https://openalex.org/W6682075083"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590"],"abstract_inverted_index":{"This":[0,76],"paper":[1],"addresses":[2],"the":[3,52,62,86,100],"global":[4],"asymptotic":[5],"regulation":[6],"of":[7,51,58,88,99],"robot":[8,23],"manipulators":[9],"under":[10],"input":[11,95],"constraints,":[12],"both":[13],"with":[14,42],"and":[15,46,66],"without":[16],"velocity":[17],"measurements.":[18],"It":[19],"is":[20,77,103],"proven":[21],"that":[22],"systems":[24],"subject":[25],"to":[26,69,92],"bounded":[27],"inputs":[28],"can":[29],"be":[30],"globally":[31],"asymptotically":[32],"stabilized":[33],"via":[34,105],"a":[35,83],"saturated":[36],"proportional-integral-derivative":[37],"(PID)":[38],"control":[39,63,81],"in":[40,61],"agreement":[41],"Lyapunov's":[43],"direct":[44],"method":[45],"LaSalle's":[47],"invariance":[48],"principle.":[49],"Advantages":[50],"proposed":[53,101],"controller":[54],"include":[55],"an":[56,67],"absence":[57],"modeling":[59],"parameters":[60],"law":[64],"formulation":[65],"ability":[68],"ensure":[70],"actuator":[71,89],"constraints":[72],"are":[73],"not":[74],"breached.":[75],"accomplished":[78],"by":[79],"selecting":[80],"gains":[82],"priori,":[84],"removing":[85],"possibility":[87],"failure":[90],"due":[91],"excessive":[93],"torque":[94],"levels.":[96],"The":[97],"effectiveness":[98],"approach":[102],"illustrated":[104],"simulations.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}