{"id":"https://openalex.org/W7125925317","doi":"https://doi.org/10.1109/tce.2026.3658671","title":"A Novel Composite Observer-Based Adaptive Predefined-Time Control for Robotic Manipulators With Deception Attacks and Full-State Constraints","display_name":"A Novel Composite Observer-Based Adaptive Predefined-Time Control for Robotic Manipulators With Deception Attacks and Full-State Constraints","publication_year":2026,"publication_date":"2026-01-28","ids":{"openalex":"https://openalex.org/W7125925317","doi":"https://doi.org/10.1109/tce.2026.3658671"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2026.3658671","doi":"https://doi.org/10.1109/tce.2026.3658671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2026.3658671","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-100","russia-white-list-1","vabb-shw"],"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 Consumer Electronics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"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/A5077037714","display_name":"Liang Cao","orcid":"https://orcid.org/0000-0002-5698-8527","observed_orcids":["https://orcid.org/0000-0002-5698-8527","https://orcid.org/0000-0002-2880-3097","https://orcid.org/0000-0003-0708-9071"]},"institutions":[{"id":"https://openalex.org/I97009856","display_name":"Bohai University","ror":"https://ror.org/01kdzej58","country_code":"CN","type":"education","lineage":["https://openalex.org/I97009856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Cao","raw_affiliation_strings":["College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China"],"raw_orcid":"https://orcid.org/0000-0002-5698-8527","affiliations":[{"raw_affiliation_string":"College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China","institution_ids":["https://openalex.org/I97009856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103259947","display_name":"Hao Yuan","orcid":"https://orcid.org/0009-0005-4982-8495","observed_orcids":["https://orcid.org/0009-0005-4982-8495"]},"institutions":[{"id":"https://openalex.org/I97009856","display_name":"Bohai University","ror":"https://ror.org/01kdzej58","country_code":"CN","type":"education","lineage":["https://openalex.org/I97009856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huizhen Yuan","raw_affiliation_strings":["College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China","institution_ids":["https://openalex.org/I97009856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103643298","display_name":"Yan Mei Lei","orcid":"https://orcid.org/0000-0001-6142-8930","observed_orcids":["https://orcid.org/0000-0001-6142-8930"]},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Lei","raw_affiliation_strings":["Chongqing Key Laboratory of Generic Technology and System of Service Robots, School of Electronic and Information Engineering, Southwest University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Generic Technology and System of Service Robots, School of Electronic and Information Engineering, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100875166","display_name":"Xiaodong Sun","orcid":"https://orcid.org/0009-0003-8045-4781","observed_orcids":["https://orcid.org/0009-0003-8045-4781"]},"institutions":[{"id":"https://openalex.org/I4405277472","display_name":"CISDI Group (China)","ror":"https://ror.org/02tetyt18","country_code":"CN","type":"company","lineage":["https://openalex.org/I275542036","https://openalex.org/I4405277472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Sun","raw_affiliation_strings":["CISDI Information Technology Company Ltd., Chongqing, China"],"raw_orcid":"https://orcid.org/0009-0003-8045-4781","affiliations":[{"raw_affiliation_string":"CISDI Information Technology Company Ltd., Chongqing, China","institution_ids":["https://openalex.org/I4405277472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032133449","display_name":"Yingnan Pan","orcid":"https://orcid.org/0000-0002-7603-4333","observed_orcids":["https://orcid.org/0000-0002-7603-4333"]},"institutions":[{"id":"https://openalex.org/I97009856","display_name":"Bohai University","ror":"https://ror.org/01kdzej58","country_code":"CN","type":"education","lineage":["https://openalex.org/I97009856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingnan Pan","raw_affiliation_strings":["College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China"],"raw_orcid":"https://orcid.org/0000-0002-7603-4333","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China","institution_ids":["https://openalex.org/I97009856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":45.2591,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99855708,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"72","issue":"1","first_page":"391","last_page":"404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9926999807357788,"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":0.9926999807357788,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.003700000001117587,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.00039999998989515007,"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/robot-manipulators","display_name":"robot manipulators","score":0.9760000109672546},{"id":"https://openalex.org/keywords/deception-attacks","display_name":"deception attacks","score":0.9380000233650208},{"id":"https://openalex.org/keywords/full-state-constraints","display_name":"full-state constraints","score":0.6930000185966492},{"id":"https://openalex.org/keywords/predefined-time-control","display_name":"predefined-time control","score":0.9179999828338623},{"id":"https://openalex.org/keywords/fuzzy-observer","display_name":"fuzzy observer","score":0.8730000257492065},{"id":"https://openalex.org/keywords/extended-state-observer","display_name":"extended state observer","score":0.9810000061988831},{"id":"https://openalex.org/keywords/barrier-lyapunov-function","display_name":"barrier Lyapunov function","score":0.871999979019165},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.5830000042915344},{"id":"https://openalex.org/keywords/cyber-physical-systems-security","display_name":"cyber-physical security","score":0.7110000252723694}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7218999862670898},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5149999856948853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49059998989105225},{"id":"https://openalex.org/C2779267917","wikidata":"https://www.wikidata.org/wiki/Q170028","display_name":"Deception","level":2,"score":0.46369999647140503},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42800000309944153},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4059999883174896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4052000045776367},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4000999927520752},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.3935000002384186},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.36419999599456787},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.3447999954223633},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.34119999408721924},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.33649998903274536},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32829999923706055},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.323199987411499},{"id":"https://openalex.org/C42011625","wikidata":"https://www.wikidata.org/wiki/Q1055058","display_name":"Fuzzy set","level":3,"score":0.3057999908924103},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3050999939441681},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29820001125335693},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27379998564720154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.25929999351501465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2026.3658671","doi":"https://doi.org/10.1109/tce.2026.3658671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2026.3658671","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-100","russia-white-list-1","vabb-shw"],"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 Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2830018881","display_name":null,"funder_award_id":"2024MS183","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G2906153558","display_name":null,"funder_award_id":"2024BS235","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G4883798845","display_name":null,"funder_award_id":"62373111","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G552627383","display_name":null,"funder_award_id":"62473059","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1968193069","https://openalex.org/W1990380686","https://openalex.org/W2087084782","https://openalex.org/W2343028562","https://openalex.org/W2591999327","https://openalex.org/W2739848262","https://openalex.org/W2790105089","https://openalex.org/W2805998202","https://openalex.org/W2999044282","https://openalex.org/W3108675900","https://openalex.org/W3138688860","https://openalex.org/W3160291717","https://openalex.org/W3182354834","https://openalex.org/W3208928279","https://openalex.org/W4213036044","https://openalex.org/W4220917061","https://openalex.org/W4285306811","https://openalex.org/W4285773432","https://openalex.org/W4312348603","https://openalex.org/W4376455430","https://openalex.org/W4382865033","https://openalex.org/W4385144976","https://openalex.org/W4387609112","https://openalex.org/W4392251546","https://openalex.org/W4394627252","https://openalex.org/W4399334194","https://openalex.org/W4400525757","https://openalex.org/W4400678981","https://openalex.org/W4402478148","https://openalex.org/W4404520559","https://openalex.org/W4405933903","https://openalex.org/W4407315464","https://openalex.org/W4408145669","https://openalex.org/W4408723196","https://openalex.org/W4410114541","https://openalex.org/W4410886919","https://openalex.org/W4411086323","https://openalex.org/W4411639758","https://openalex.org/W4411949405","https://openalex.org/W4412164756","https://openalex.org/W4413120440","https://openalex.org/W4413318856","https://openalex.org/W4413344150","https://openalex.org/W4414271576","https://openalex.org/W4414271619","https://openalex.org/W4414477211","https://openalex.org/W4416366456"],"related_works":["https://openalex.org/W7203674022","https://openalex.org/W7213364930","https://openalex.org/W4407946260","https://openalex.org/W7124879842","https://openalex.org/W4312799470","https://openalex.org/W4388024256","https://openalex.org/W4405241308","https://openalex.org/W4387423183","https://openalex.org/W4409878136","https://openalex.org/W4322576877"],"abstract_inverted_index":{"To":[0,114],"enhance":[1],"the":[2,55,64,96,126,138,156,161,165,169,174,178,181,187,192],"physical":[3],"safety":[4],"and":[5,74,106,189],"dynamically":[6],"adjustable":[7],"response":[8],"of":[9,137,177,191],"constrained":[10],"robotic":[11,30,50],"manipulators":[12,51],"under":[13,35,100],"malicious":[14,36],"attacks,":[15],"this":[16,89],"paper":[17,40],"presents":[18],"an":[19,28,78,85,134],"improved":[20,79],"fuzzy":[21,80],"state":[22,69,81,87,99,116],"observer-based":[23],"predefined-time":[24,152,166],"control":[25,194],"design":[26],"for":[27,48,108],"n-link":[29,49],"manipulator":[31],"with":[32],"full-state":[33],"constraints":[34],"deception":[37,45,101],"attacks.":[38],"This":[39],"proposes":[41],"a":[42,118,142,150],"more":[43],"general":[44],"attack":[46,56],"assumption":[47],"by":[52,148],"only":[53,93],"requiring":[54],"on":[57],"system":[58,98,140,163],"outputx1to":[59],"be":[60,72],"bounded,":[61],"which":[62,132],"relaxes":[63],"conventional":[65],"restriction":[66],"that":[67,83],"all":[68],"attacks":[70,102],"must":[71],"parameterized":[73],"bounded.":[75],"By":[76],"designing":[77],"observer":[82],"integrates":[84],"extended":[86],"observer,":[88],"scheme":[90],"can":[91],"not":[92],"accurately":[94],"estimate":[95],"unavailable":[97],"but":[103],"also":[104],"observe":[105],"compensate":[107],"composite":[109],"disturbances":[110],"in":[111],"real":[112],"time.":[113],"address":[115],"constraints,":[117],"nonlinear":[119],"state-dependent":[120],"function":[121,130],"is":[122],"introduced":[123],"to":[124,154,173],"replace":[125],"traditional":[127],"barrier":[128],"Lyapunov":[129],"method,":[131],"achieves":[133,164],"unconstrained":[135],"transformation":[136],"state-constrained":[139],"through":[141],"direct":[143],"constraint":[144],"handling":[145],"approach.":[146],"Subsequently,":[147],"constructing":[149],"nonsingular":[151],"filter":[153],"avoid":[155],"high":[157],"computational":[158],"complexity":[159],"issue,":[160],"closed-loop":[162],"stability":[167],"while":[168],"tracking":[170],"error":[171],"converges":[172],"residual":[175],"set":[176],"origin":[179],"within":[180],"predefined-time.":[182],"Finally,":[183],"simulation":[184],"results":[185],"demonstrate":[186],"effectiveness":[188],"superiority":[190],"proposed":[193],"strategy.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":28}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2026-01-29T00:00:00"}