{"id":"https://openalex.org/W4318483301","doi":"https://doi.org/10.1108/ir-09-2022-0244","title":"Adaptive fractional-order admittance control for force tracking in highly dynamic unknown environments","display_name":"Adaptive fractional-order admittance control for force tracking in highly dynamic unknown environments","publication_year":2023,"publication_date":"2023-01-30","ids":{"openalex":"https://openalex.org/W4318483301","doi":"https://doi.org/10.1108/ir-09-2022-0244"},"language":"en","primary_location":{"id":"doi:10.1108/ir-09-2022-0244","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2022-0244","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5060506125","display_name":"Kaixin Li","orcid":"https://orcid.org/0000-0002-7184-6877"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaixin Li","raw_affiliation_strings":["Chongqing University , Chongqing,","Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University , Chongqing,","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010309870","display_name":"Ye He","orcid":"https://orcid.org/0000-0002-4457-3877"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye He","raw_affiliation_strings":["Chongqing University , Chongqing,","Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University , Chongqing,","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063188437","display_name":"Kuan\u2010Ching Li","orcid":"https://orcid.org/0000-0003-1381-4364"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuan Li","raw_affiliation_strings":["Chongqing University , Chongqing,","Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University , Chongqing,","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101893762","display_name":"Chengguo Liu","orcid":"https://orcid.org/0000-0003-4023-5376"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengguo Liu","raw_affiliation_strings":["Chongqing University , Chongqing,","Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University , Chongqing,","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":2.0304,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84971661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"50","issue":"3","first_page":"530","last_page":"541"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.797195315361023},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7151099443435669},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6600412130355835},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.576634407043457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5482665300369263},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5217177271842957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5028108954429626},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47048285603523254},{"id":"https://openalex.org/keywords/transient-response","display_name":"Transient response","score":0.4675746262073517},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4434848427772522},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4403388202190399},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32158297300338745},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14415651559829712},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11228308081626892},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10264542698860168}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.797195315361023},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7151099443435669},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6600412130355835},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.576634407043457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5482665300369263},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5217177271842957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5028108954429626},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47048285603523254},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.4675746262073517},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4434848427772522},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4403388202190399},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32158297300338745},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14415651559829712},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11228308081626892},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10264542698860168},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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:10.1108/ir-09-2022-0244","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2022-0244","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1663384240","https://openalex.org/W1967377907","https://openalex.org/W1976912497","https://openalex.org/W2016958754","https://openalex.org/W2017239762","https://openalex.org/W2076479299","https://openalex.org/W2092972148","https://openalex.org/W2133193265","https://openalex.org/W2134927525","https://openalex.org/W2169440744","https://openalex.org/W2341442449","https://openalex.org/W2412321394","https://openalex.org/W2477921776","https://openalex.org/W2560199319","https://openalex.org/W2789837488","https://openalex.org/W2890476719","https://openalex.org/W2890562467","https://openalex.org/W2899456386","https://openalex.org/W2908388255","https://openalex.org/W2912698479","https://openalex.org/W2914788072","https://openalex.org/W2924649747","https://openalex.org/W2952527108","https://openalex.org/W2955130115","https://openalex.org/W2969578633","https://openalex.org/W3003613205","https://openalex.org/W3004014436","https://openalex.org/W3130532209","https://openalex.org/W3163630640","https://openalex.org/W3190259769","https://openalex.org/W4213360733","https://openalex.org/W4220971467","https://openalex.org/W6653951391","https://openalex.org/W6713594512","https://openalex.org/W6728397468","https://openalex.org/W6731668944","https://openalex.org/W6790497276"],"related_works":["https://openalex.org/W4293868274","https://openalex.org/W4386412075","https://openalex.org/W4389515241","https://openalex.org/W2810278913","https://openalex.org/W2110981444","https://openalex.org/W2588803791","https://openalex.org/W794224201","https://openalex.org/W2747820245","https://openalex.org/W2165684544","https://openalex.org/W1569876521"],"abstract_inverted_index":{"Purpose":[0],"With":[1],"the":[2,21,55,68,77,81,87,97,108,115,123,129,149,169,179,200,212],"increasing":[3],"demands":[4],"of":[5,23,80,133,148,181],"industrial":[6,202],"applications,":[7],"it":[8],"is":[9,26,51,111,153,195,220],"imperative":[10],"for":[11],"robots":[12],"to":[13,27,35,53,95,113],"accomplish":[14],"good":[15],"contact-interaction":[16],"with":[17,40,178],"dynamic":[18,104,158,236],"environments.":[19,238],"Hence,":[20],"purpose":[22],"this":[24,60,84,134,227],"research":[25],"propose":[28],"an":[29],"adaptive":[30],"fractional-order":[31,217],"admittance":[32,57,218],"control":[33,61,85,135,151,171,193,210],"scheme":[34,194],"realize":[36],"a":[37],"robot\u2013environment":[38],"contact":[39],"high":[41],"accuracy,":[42],"small":[43],"overshoot":[44,186],"and":[45,74,90,107,118,131,139,163,167,187,197,203,222],"fast":[46,182],"response.":[47],"Design/methodology/approach":[48],"Fractional":[49],"calculus":[50],"introduced":[52],"reconstruct":[54],"classical":[56],"model":[58],"in":[59,76,102,199,226,235],"scheme,":[62,86],"which":[63,206,229],"can":[64],"more":[65],"accurately":[66],"describe":[67],"complex":[69],"physical":[70],"relationship":[71],"between":[72],"position":[73],"force":[75,99,145,175,209,232],"interaction":[78],"process":[79],"robot\u2013environment.":[82],"In":[83,165],"pre-PID":[88,124],"controller":[89,92,110,219],"fuzzy":[91,109],"are":[93,137],"adopted":[94],"improve":[96,114],"system":[98],"tracking":[100,146,176,233],"performance":[101,147,177,234],"highly":[103,157],"unknown":[105,237],"environments,":[106],"used":[112],"trajectory,":[116],"transient":[117],"steady-state":[119],"response":[120,183],"by":[121,155,211,224],"adjusting":[122],"integration":[125],"gain":[126],"online.":[127],"Furthermore,":[128],"stability":[130],"robustness":[132],"algorithm":[136,152,172],"theoretically":[138],"experimentally":[140],"demonstrated.":[141],"Findings":[142],"The":[143,192],"excellent":[144,231],"proposed":[150,170,221],"verified":[154,223],"constructing":[156],"unstructured":[159],"environments":[160],"through":[161],"simulations":[162,166],"experiments.":[164],"experiments,":[168],"shows":[173],"satisfactory":[174],"advantages":[180],"speed,":[184],"little":[185],"strong":[188],"robustness.":[189],"Practical":[190],"implications":[191],"practical":[196],"simple":[198],"actual":[201],"medical":[204],"scenarios,":[205],"requires":[207],"accurate":[208],"robot.":[213],"Originality/value":[214],"A":[215],"new":[216],"experiments":[225],"research,":[228],"achieves":[230]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
