{"id":"https://openalex.org/W2048901270","doi":"https://doi.org/10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","title":"Enhanced direct adaptive fuzzy control of robot manipulators","display_name":"Enhanced direct adaptive fuzzy control of robot manipulators","publication_year":1999,"publication_date":"1999-05-01","ids":{"openalex":"https://openalex.org/W2048901270","doi":"https://doi.org/10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","mag":"2048901270"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","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/A5111601932","display_name":"Shiuan-You Chin","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"S. H. Chin","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035486559","display_name":"Meng Joo Er","orcid":"https://orcid.org/0000-0003-4597-7088"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M. J. Er","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018718514","display_name":"S. S. Neo","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S. S. Neo","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798#TAB#","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5111601932"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.1096,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.90029326,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":"5","first_page":"301","last_page":"311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8730723857879639},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6965387463569641},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5980992317199707},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5766758322715759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5646527409553528},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5385630130767822},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.485679030418396},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.44028735160827637},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4368486702442169},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39230138063430786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39089855551719666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21814128756523132},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21058061718940735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21002325415611267}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8730723857879639},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6965387463569641},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5980992317199707},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5766758322715759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5646527409553528},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5385630130767822},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.485679030418396},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.44028735160827637},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4368486702442169},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39230138063430786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39089855551719666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21814128756523132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21058061718940735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21002325415611267},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199905)16:5<301::aid-rob4>3.0.co;2-t","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1752175949","https://openalex.org/W2043369546","https://openalex.org/W2076780588","https://openalex.org/W2079017608","https://openalex.org/W2125275303","https://openalex.org/W2154182239","https://openalex.org/W2798766386"],"related_works":["https://openalex.org/W2807251790","https://openalex.org/W2799406489","https://openalex.org/W2049792449","https://openalex.org/W2094489189","https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2032253950","https://openalex.org/W2101148463","https://openalex.org/W2115512691","https://openalex.org/W2792368061"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3],"enhanced":[4,115],"direct":[5,30,116],"adaptive":[6,31,72,117],"fuzzy":[7,32,118],"robot":[8,33,84,101,119],"controller":[9,120],"is":[10,55,64,121],"developed":[11],"to":[12,43,56],"overcome":[13],"problems":[14,128],"of":[15,21,39,51,90,110,129,135],"high-frequency":[16,130],"oscillations":[17,131],"across":[18,132],"the":[19,22,40,45,52,58,76,82,88,91,107,111,114,127,133,136],"boundary":[20,89,134],"constraint":[23,137],"set":[24,138],"and":[25,61,95,126,139],"large":[26,140],"control":[27,34,141],"signals.":[28],"The":[29,48],"algorithm":[35],"employs":[36],"tracking":[37,59],"errors":[38],"joint":[41],"motion":[42],"drive":[44],"parameter":[46],"adaptation.":[47],"predominant":[49],"concern":[50],"adaptation":[53],"law":[54],"reduce":[57],"errors,":[60],"closed-loop":[62],"stability":[63],"ensured":[65],"by":[66,105],"appending":[67],"a":[68,99],"supervisory":[69,77,112],"controller.":[70],"This":[71],"controller,":[73,78,113],"appended":[74],"with":[75],"does":[79],"not":[80],"require":[81],"exact":[83],"dynamics,":[85],"but":[86],"only":[87],"dynamics.":[92],"Theoretical":[93],"results":[94],"simulation":[96],"studies":[97],"on":[98],"two-link":[100],"manipulator":[102],"show":[103],"that":[104],"modifying":[106],"activation":[108],"function":[109],"as":[122,124],"robust":[123],"before":[125],"signals":[142],"are":[143],"alleviated.":[144],"\u00a91999":[145],"John":[146],"Wiley":[147],"&":[148],"Sons,":[149],"Inc.":[150]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}