{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T02:15:13Z","timestamp":1649124913942},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2002,1,31]],"date-time":"2002-01-31T00:00:00Z","timestamp":1012435200000},"content-version":"unspecified","delay-in-days":30,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,1]]},"abstract":"<jats:p>This paper rechecks the relative degree \n\nof the end-point tracking control system of a flexible manipulator. \n\n New added insights into the ill-defined behavior of the \n\nrelative degree are presented by constructing a perturbed truncation model. \n\nThe implications for the inverse dynamics motivate us to reformulate \n\nthe inverse dynamics based on the perturbed truncation model in \n\nthe extreme case of truncating all of the flexible modes. \n\nNew potential advantages arising from this novel formulation are investigated \n\nfor the inverse dynamics control design as well.<\/jats:p>","DOI":"10.1017\/s0263574701003526","type":"journal-article","created":{"date-parts":[[2008,8,14]],"date-time":"2008-08-14T06:30:24Z","timestamp":1218695424000},"page":"33-48","source":"Crossref","is-referenced-by-count":2,"title":["Note on the relative degree of a flexible manipulator and \n\nimplications to inverse dynamics for tracking control"],"prefix":"10.1017","volume":"20","author":[{"given":"G.L.","family":"Wang","sequence":"first","affiliation":[]},{"given":"H.","family":"Unbehauen","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2002,1,31]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574701003526","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,6]],"date-time":"2019-04-06T14:50:47Z","timestamp":1554562247000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574701003526\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2002,1]]}},"alternative-id":["S0263574701003526"],"URL":"https:\/\/doi.org\/10.1017\/s0263574701003526","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,1]]}}}