human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "dynamic modularity approach to adaptive inner outer loop control of robotic systems"):
  Abstract: Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop controllers, however, do not take into consideration the dynamic effects of robots and their effectiveness relies on the ad hoc assumption that the inner PI or PID control loop is fast enough (generally impossible in practice), and other torque-based control algorithms cannot be implemented in robotics with closed architecture (i.e., the torque control loop is closed). This paper investigates the adaptive control of robotic systems with the inner/outer loop structure, taking into full account the effects of the dynamics and the system uncertainties, and both the task-space control and joint-space control are considered. We propose a modularity approach to resolve this issue, and a class of adaptive outer loop control schemes is proposed and their role is to generate joint velocity and position commands for the low-level joint servoing loop. Without relying on the ad hoc assumption that the joint servoing is fast enough or the modification of the low-level joint controller structure, we rigorously show that the proposed outer loop controllers can ensure the stability and convergence of the closed-loop robotic system. We also propose the outer loop versions of several standard direct/composite adaptive joint-space controllers for rigid robots or flexible-joint robots, and a promising conclusion may be that most torque-based adaptive controllers for robots can be designed to fit the inner/outer loop structure, by using the adaptively scaled dynamic compensation and the new definition of the joint velocity command.

Includes members:
  Member "adaptive control of robot manipulators with uncertain kinematics and dynamics":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "combining parameter identification and trajectory optimization real time planning for information gain")
  Member "adaptive visual tracking for robotic systems without image space velocity measurement":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "passivity based adaptive control for visually servoed robotic systems")
  Member "adaptive visual tracking for robotic systems without visual velocity measurement":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "passivity based adaptive control for visually servoed robotic systems")
  Member "passivity based adaptive control for visually servoed robotic systems":
    also connected through other hyperedges:
      (none)

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.SY(Systems and Control)