{"id":"https://openalex.org/W2001764433","doi":"https://doi.org/10.1093/imamci/dnu024","title":"Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties","display_name":"Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties","publication_year":2014,"publication_date":"2014-07-04","ids":{"openalex":"https://openalex.org/W2001764433","doi":"https://doi.org/10.1093/imamci/dnu024","mag":"2001764433"},"language":"en","primary_location":{"id":"doi:10.1093/imamci/dnu024","is_oa":false,"landing_page_url":"https://doi.org/10.1093/imamci/dnu024","pdf_url":null,"source":{"id":"https://openalex.org/S162756791","display_name":"IMA Journal of Mathematical Control and Information","issn_l":"0265-0754","issn":["0265-0754","1471-6887"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311648","host_organization_name":"Oxford University Press","host_organization_lineage":["https://openalex.org/P4310311648","https://openalex.org/P4310311647"],"host_organization_lineage_names":["Oxford University Press","University of Oxford"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IMA Journal of Mathematical Control and Information","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/A5005326961","display_name":"Yuan Chen","orcid":"https://orcid.org/0000-0003-3937-1856"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuan Chen","raw_affiliation_strings":["School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084488583","display_name":"Guangying Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangying Ma","raw_affiliation_strings":["School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112911600","display_name":"Shuxia Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuxia Lin","raw_affiliation_strings":["School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027464918","display_name":"Shurong Ning","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shurong Ning","raw_affiliation_strings":["School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077811474","display_name":"Jun Gao","orcid":"https://orcid.org/0000-0003-1145-9565"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Gao","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University , Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005326961"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2582,"currency":"GBP","value_usd":3167},"apc_paid":null,"fwci":0.4103,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.67705835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"33","issue":"1","first_page":"37","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9991000294685364,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.996999979019165,"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/control-theory","display_name":"Control theory (sociology)","score":0.8637812733650208},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5962116122245789},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5854682922363281},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5658142566680908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5464864373207092},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5285165309906006},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.52625572681427},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5091566443443298},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.47940966486930847},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47444427013397217},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.46953025460243225},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.46315068006515503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4462003707885742},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41599106788635254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29250195622444153},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2868513762950897},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18471580743789673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15215089917182922},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12325909733772278}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8637812733650208},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5962116122245789},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5854682922363281},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5658142566680908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464864373207092},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5285165309906006},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.52625572681427},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5091566443443298},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.47940966486930847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47444427013397217},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.46953025460243225},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.46315068006515503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4462003707885742},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41599106788635254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29250195622444153},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2868513762950897},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18471580743789673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15215089917182922},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12325909733772278},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":2,"locations":[{"id":"doi:10.1093/imamci/dnu024","is_oa":false,"landing_page_url":"https://doi.org/10.1093/imamci/dnu024","pdf_url":null,"source":{"id":"https://openalex.org/S162756791","display_name":"IMA Journal of Mathematical Control and Information","issn_l":"0265-0754","issn":["0265-0754","1471-6887"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311648","host_organization_name":"Oxford University Press","host_organization_lineage":["https://openalex.org/P4310311648","https://openalex.org/P4310311647"],"host_organization_lineage_names":["Oxford University Press","University of Oxford"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IMA Journal of Mathematical Control and Information","raw_type":"journal-article"},{"id":"pmh:oai:open-archive.highwire.org:imamci:33/1/37","is_oa":false,"landing_page_url":"http://imamci.oxfordjournals.org/cgi/content/short/33/1/37","pdf_url":null,"source":{"id":"https://openalex.org/S4406923041","display_name":"HighWire Press Open Archive","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"TEXT"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2150587932","https://openalex.org/W2109435010","https://openalex.org/W1535194415","https://openalex.org/W2078771202","https://openalex.org/W2794899516","https://openalex.org/W2384451167","https://openalex.org/W2112157079","https://openalex.org/W2383624027","https://openalex.org/W2009263812","https://openalex.org/W1964882604"],"abstract_inverted_index":{"A":[0],"computed-torque":[1,44,101],"plus":[2],"robust":[3,35,60],"adaptive":[4,29,47],"compensation":[5],"control":[6,14,31,37,49,62],"scheme":[7],"(CTRACC)":[8],"is":[9,51,64,112],"proposed":[10],"for":[11,55],"trajectory":[12],"tracking":[13],"of":[15,70,81,108,117,131],"a":[16,34,118,127],"robot":[17,121,133],"manipulator":[18,122],"with":[19],"uncertain":[20],"dynamics.":[21],"To":[22],"eliminate":[23,67],"structured":[24,56],"and":[25,33,58,73,78,98,123],"unstructured":[26,71],"uncertainties,":[27,57],"an":[28],"fuzzy":[30,48],"algorithm":[32,50],"H\u221e":[36,61],"mode":[38],"are":[39,85,103],"incorporated":[40],"in":[41],"the":[42,59,68,79,82,95,99,109],"conventional":[43,100],"controller.":[45],"The":[46,76,106],"employed":[52],"to":[53,66],"compensate":[54],"model":[63],"designed":[65],"effects":[69],"uncertainties":[72],"approximation":[74],"errors.":[75],"convergence":[77],"stability":[80],"CTRACC":[83,96,110],"approach":[84,97,111],"proved":[86],"by":[87,114],"using":[88],"Lyapunov's":[89],"direct":[90],"method.":[91],"Performance":[92],"comparisons":[93],"between":[94],"controller":[102],"carried":[104],"out.":[105],"validity":[107],"investigated":[113],"numerical":[115],"simulations":[116],"two-link":[119],"rotary":[120],"experiments":[124],"conducted":[125],"on":[126],"real":[128],"six":[129],"degrees":[130],"freedom":[132],"manipulator.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}
