{"id":"https://openalex.org/W7224458082","doi":"https://doi.org/10.3390/robotics15110220","title":"Learning-Based Adaptive Robust Control of a 4-DOF Robot Manipulator","display_name":"Learning-Based Adaptive Robust Control of a 4-DOF Robot Manipulator","publication_year":2026,"publication_date":"2026-10-29","ids":{"openalex":"https://openalex.org/W7224458082","doi":"https://doi.org/10.3390/robotics15110220"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15110220","doi":"https://doi.org/10.3390/robotics15110220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110220","pdf_url":null,"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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics15110220","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007991403","display_name":"Mohammad Jafari","orcid":"https://orcid.org/0000-0002-4720-6159","observed_orcids":["https://orcid.org/0000-0002-4720-6159"]},"institutions":[{"id":"https://openalex.org/I199172307","display_name":"Columbus State University","ror":"https://ror.org/002nf6z37","country_code":"US","type":"education","lineage":["https://openalex.org/I199172307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohammad Jafari","raw_affiliation_strings":["Robotics Engineering, Columbus State University, Columbus, GA 31907, USA"],"raw_orcid":"https://orcid.org/0000-0002-4720-6159","affiliations":[{"raw_affiliation_string":"Robotics Engineering, Columbus State University, Columbus, GA 31907, USA","institution_ids":["https://openalex.org/I199172307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5147802754","display_name":"Dylan Cadigan","orcid":"https://orcid.org/0009-0006-7493-0130","observed_orcids":["https://orcid.org/0009-0006-7493-0130"]},"institutions":[{"id":"https://openalex.org/I198034347","display_name":"Wentworth Institute of Technology","ror":"https://ror.org/03tqeft14","country_code":"US","type":"education","lineage":["https://openalex.org/I198034347"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan Cadigan","raw_affiliation_strings":["School of Engineering, Wentworth Institute of Technology, Boston, MA 02115, USA"],"raw_orcid":"https://orcid.org/0009-0006-7493-0130","affiliations":[{"raw_affiliation_string":"School of Engineering, Wentworth Institute of Technology, Boston, MA 02115, USA","institution_ids":["https://openalex.org/I198034347"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055562417","display_name":"Mahmut Reyhanoglu","orcid":"https://orcid.org/0000-0003-2105-6444","observed_orcids":["https://orcid.org/0000-0003-2105-6444"]},"institutions":[{"id":"https://openalex.org/I52913039","display_name":"University of Houston - Clear Lake","ror":"https://ror.org/01t817z14","country_code":"US","type":"education","lineage":["https://openalex.org/I52913039"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahmut Reyhanoglu","raw_affiliation_strings":["Aerospace Engineering, University of Houston Clear Lake, Houston, TX 77058, USA"],"raw_orcid":"https://orcid.org/0000-0003-2105-6444","affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Houston Clear Lake, Houston, TX 77058, USA","institution_ids":["https://openalex.org/I52913039"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007991403"],"corresponding_institution_ids":["https://openalex.org/I199172307"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.81380976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"11","first_page":"220","last_page":"220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9829000234603882,"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":0.9829000234603882,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.00800000037997961,"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":0.0024999999441206455,"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/robust-adaptive-control","display_name":"robust adaptive control","score":0.8519999980926514},{"id":"https://openalex.org/keywords/lumped-disturbance-estimation","display_name":"lumped disturbance estimation","score":0.8429999947547913},{"id":"https://openalex.org/keywords/parameter-uncertainty","display_name":"parameter uncertainty","score":0.7749999761581421},{"id":"https://openalex.org/keywords/payload-variation","display_name":"payload variation","score":0.9229999780654907},{"id":"https://openalex.org/keywords/measurement-noise","display_name":"measurement noise","score":0.6200000047683716},{"id":"https://openalex.org/keywords/pid-controller-comparison","display_name":"PID controller comparison","score":0.8130000233650208},{"id":"https://openalex.org/keywords/static-friction","display_name":"static friction","score":0.7649999856948853},{"id":"https://openalex.org/keywords/current-control","display_name":"current control","score":0.4569999873638153}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.871399998664856},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6460999846458435},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6154000163078308},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.585099995136261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48570001125335693},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.46050000190734863},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45170000195503235},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4478999972343445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44190001487731934},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.42969998717308044},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.42719998955726624},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.3635999858379364},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.34220001101493835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3278999924659729},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.2766999900341034},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/robotics15110220","doi":"https://doi.org/10.3390/robotics15110220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110220","pdf_url":null,"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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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"}],"best_oa_location":{"id":"doi:10.3390/robotics15110220","doi":"https://doi.org/10.3390/robotics15110220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110220","pdf_url":null,"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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2105214976","https://openalex.org/W1847304493","https://openalex.org/W7025343882","https://openalex.org/W7099722428","https://openalex.org/W7203697725","https://openalex.org/W4386431956","https://openalex.org/W2542360930","https://openalex.org/W2108293884","https://openalex.org/W2128530150","https://openalex.org/W7128614420"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,40,137],"learning-based":[4],"adaptive":[5,142],"control":[6],"strategy":[7],"for":[8,66],"trajectory":[9],"tracking":[10,161,172,199],"of":[11,34,39,49,73,108,123,165,176,187,227,238,253,277,286],"four-degree-of-freedom":[13],"(4-DOF)":[14],"robot":[15],"manipulator":[16],"subject":[17],"to":[18,119],"unknown":[19],"disturbances":[20],"and":[21,38,84,103,144,231,292],"model":[22,259],"uncertainties.":[23],"The":[24],"designed":[25,157,207,248],"controller":[26,79,89,129,158,191,208,249],"combines":[27],"nonlinear":[28],"model-based":[29],"compensation":[30,92],"with":[31,90,106,140,218,274],"online":[32],"adaptation":[33],"the":[35,47,50,55,67,74,78,109,113,120,124,128,148,153,156,166,177,184,188,194,206,225,228,235,239,243,247,251,254,262,275,278,287,290],"feedback":[36,82],"gains":[37],"lumped":[41],"disturbance":[42,114],"estimate,":[43],"both":[44],"driven":[45],"by":[46],"deviation":[48],"actual":[51],"tracking-error":[52],"dynamics":[53],"from":[54,112,261],"prescribed":[56],"target":[57],"error":[58,69,162,200,212],"dynamics.":[59,70],"A":[60,257],"local":[61],"stability":[62],"condition":[63],"is":[64],"established":[65],"resulting":[68,111],"In":[71],"simulations":[72],"4-DOF":[75],"Quanser":[76],"QArm,":[77,125],"outperformed":[80],"conventional":[81],"linearization":[83],"an":[85],"equal-bandwidth":[86],"proportional\u2013integral\u2013derivative":[87],"(PID)":[88],"gravity":[91],"on":[93,234],"all":[94],"joints,":[95],"including":[96],"under":[97],"\u00b120%":[98],"parametric":[99],"uncertainty,":[100],"payload":[101,215],"variation,":[102],"measurement":[104],"noise,":[105],"most":[107,175,285],"improvement":[110],"estimate.":[115],"Hardware":[116],"experiments,":[117,155],"limited":[118],"wrist":[121,258],"joint":[122],"demonstrated":[126],"that":[127,193,266],"can":[130],"be":[131],"executed":[132],"in":[133,163,201,213,250],"real":[134],"time":[135],"through":[136],"current-command":[138],"interface":[139],"bounded":[141],"variables":[143],"smoother":[145],"currents":[146],"than":[147],"vendor-supplied":[149],"PID":[150,190,195],"controller.":[151],"Across":[152],"complete":[154],"achieved":[159,196,209],"lower":[160,198,211],"four":[164],"five":[167],"tested":[168,255],"conditions,":[169],"demonstrating":[170],"improved":[171],"performance":[173,237],"across":[174],"evaluated":[178],"scenarios.":[179],"An":[180],"additional":[181,222],"analysis":[182],"excluding":[183],"start-up":[185],"period":[186,230],"vendor":[189],"showed":[192],"11\u201351%":[197],"three":[202],"unloaded":[203],"tests,":[204],"whereas":[205],"27\u201336%":[210],"two":[214,240],"tests":[216],"conducted":[217],"modified":[219],"settings.":[220],"These":[221],"results":[223],"highlight":[224],"influence":[226],"evaluation":[229,276],"operating":[232],"conditions":[233],"relative":[236],"controllers,":[241],"while":[242],"overall":[244],"comparison":[245],"favors":[246],"majority":[252],"conditions.":[256],"identified":[260],"experimental":[263,293],"data":[264],"shows":[265],"static":[267],"friction":[268],"at":[269],"very":[270],"low":[271],"currents,":[272],"together":[273],"learning":[279],"signal":[280],"without":[281],"acceleration":[282],"measurement,":[283],"explains":[284],"difference":[288],"between":[289],"simulation":[291],"results.":[294]},"counts_by_year":[],"updated_date":"2026-11-01T11:40:01.658920","created_date":"2026-10-30T00:00:00"}