{"id":"https://openalex.org/W7162470496","doi":"https://doi.org/10.1016/j.ins.2026.123674","title":"A leakage-type adaptive robust control method for collaborative robot joints with fuzzy uncertainty: trajectory constraints and parameter optimization","display_name":"A leakage-type adaptive robust control method for collaborative robot joints with fuzzy uncertainty: trajectory constraints and parameter optimization","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162470496","doi":"https://doi.org/10.1016/j.ins.2026.123674"},"language":"en","primary_location":{"id":"doi:10.1016/j.ins.2026.123674","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.ins.2026.123674","pdf_url":null,"source":{"id":"https://openalex.org/S192650101","display_name":"Information Sciences","issn_l":"0020-0255","issn":["0020-0255","1872-6291"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information Sciences","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/A5043738670","display_name":"Shengchao Zhen","orcid":"https://orcid.org/0000-0002-8431-6453"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ShengChao Zhen","raw_affiliation_strings":["AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, 230009, Anhui, PR China","School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, 230009, Anhui, PR China","institution_ids":["https://openalex.org/I143868143","https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, PR China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137029791","display_name":"WenXing Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"WenXing Ye","raw_affiliation_strings":["AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, 230009, Anhui, PR China","School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, 230009, Anhui, PR China","institution_ids":["https://openalex.org/I143868143","https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, PR China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137028578","display_name":"Xiaoli Liu","orcid":"https://orcid.org/0000-0001-7479-4251"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"XiaoLi Liu","raw_affiliation_strings":["School of Artificial Intelligence, Anhui University, Hefei, 230601, Anhui, PR China"],"raw_orcid":"https://orcid.org/0000-0001-7479-4251","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei, 230601, Anhui, PR China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5137028578"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":{"value":3330,"currency":"USD","value_usd":3330},"apc_paid":null,"fwci":4.7051,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95968489,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"754","issue":null,"first_page":"123674","last_page":"123674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.5386999845504761,"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":0.5386999845504761,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.13850000500679016,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.07440000027418137,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/trajectory","display_name":"Trajectory","score":0.6725000143051147},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6159999966621399},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.586899995803833},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5763999819755554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5094000101089478},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5008000135421753},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47690001130104065},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.46860000491142273}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6725000143051147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6675000190734863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6159999966621399},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.586899995803833},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5763999819755554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5094000101089478},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5008000135421753},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47690001130104065},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.46860000491142273},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.46639999747276306},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.40130001306533813},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3962000012397766},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37700000405311584},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3765000104904175},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37380000948905945},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2554999887943268}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.ins.2026.123674","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.ins.2026.123674","pdf_url":null,"source":{"id":"https://openalex.org/S192650101","display_name":"Information Sciences","issn_l":"0020-0255","issn":["0020-0255","1872-6291"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information Sciences","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1983560838","https://openalex.org/W2057518416","https://openalex.org/W2061490701","https://openalex.org/W2094489189","https://openalex.org/W2155813418","https://openalex.org/W2292586222","https://openalex.org/W2593843552","https://openalex.org/W2901254935","https://openalex.org/W2902953588","https://openalex.org/W2979869230","https://openalex.org/W3042033123","https://openalex.org/W3092575029","https://openalex.org/W3165602237","https://openalex.org/W4205881380","https://openalex.org/W4210663508","https://openalex.org/W4220834284","https://openalex.org/W4285146857","https://openalex.org/W4296445536","https://openalex.org/W4319598622","https://openalex.org/W4323044355","https://openalex.org/W4366351130","https://openalex.org/W4384303956","https://openalex.org/W4385724076","https://openalex.org/W4386890784","https://openalex.org/W4387693490","https://openalex.org/W4392368907","https://openalex.org/W4399516420","https://openalex.org/W4400359566"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2026-05-27T00:00:00"}