{"id":"https://openalex.org/W2888793319","doi":"https://doi.org/10.1109/access.2018.2863384","title":"Multivariable Finite-Time Control of 5 DOF Upper-Limb Exoskeleton Based on Linear Extended Observer","display_name":"Multivariable Finite-Time Control of 5 DOF Upper-Limb Exoskeleton Based on Linear Extended Observer","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2888793319","doi":"https://doi.org/10.1109/access.2018.2863384","mag":"2888793319"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2863384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2863384","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2863384","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063481799","display_name":"Gaowei Zhang","orcid":"https://orcid.org/0000-0002-2884-1325"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaowei Zhang","raw_affiliation_strings":["Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2884-1325","affiliations":[{"raw_affiliation_string":"Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027852092","display_name":"Peng Yang","orcid":"https://orcid.org/0000-0003-3006-2184"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yang","raw_affiliation_strings":["Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739254","display_name":"Jie Wang","orcid":"https://orcid.org/0000-0002-8613-3976"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Wang","raw_affiliation_strings":["Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075015421","display_name":"Jianjun Sun","orcid":"https://orcid.org/0000-0002-8142-1928"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Sun","raw_affiliation_strings":["Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei Key Laboratory of Robot Sensing and Human\u2013Robot Interaction, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I184843921"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7576,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.69609111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"43213","last_page":"43221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9947999715805054,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9947999715805054,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9520999789237976,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9419000148773193,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8814409375190735},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8710511922836304},{"id":"https://openalex.org/keywords/multivariable-calculus","display_name":"Multivariable calculus","score":0.7382199764251709},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7365332841873169},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5612152814865112},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.554552435874939},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5379486680030823},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4589330852031708},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3624143898487091},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3566737771034241},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26109591126441956},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.23269936442375183},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.17080006003379822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08239245414733887},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07938492298126221}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8814409375190735},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8710511922836304},{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.7382199764251709},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7365332841873169},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5612152814865112},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.554552435874939},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5379486680030823},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4589330852031708},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3624143898487091},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3566737771034241},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26109591126441956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.23269936442375183},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.17080006003379822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08239245414733887},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07938492298126221},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2863384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2863384","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dfed1602af3a4a9f9c01073be0197e44","is_oa":true,"landing_page_url":"https://doaj.org/article/dfed1602af3a4a9f9c01073be0197e44","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 43213-43221 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2863384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2863384","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1513956291","display_name":null,"funder_award_id":"F2016202327","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G1810065860","display_name":null,"funder_award_id":"F2017202119","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G2937383018","display_name":null,"funder_award_id":"61503118","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3231516581","display_name":null,"funder_award_id":"61703134","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6917750111","display_name":null,"funder_award_id":"F2015202150","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G8768887750","display_name":null,"funder_award_id":"17JCQNJC04400","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1521529224","https://openalex.org/W1975958028","https://openalex.org/W1991936423","https://openalex.org/W1998409496","https://openalex.org/W2022401222","https://openalex.org/W2030921129","https://openalex.org/W2031945217","https://openalex.org/W2062939404","https://openalex.org/W2063492206","https://openalex.org/W2070438142","https://openalex.org/W2073669760","https://openalex.org/W2087083349","https://openalex.org/W2099003034","https://openalex.org/W2171323125","https://openalex.org/W2223718992","https://openalex.org/W2330589301","https://openalex.org/W2368203813","https://openalex.org/W2471136568","https://openalex.org/W2520134048","https://openalex.org/W2521097701","https://openalex.org/W2524456220","https://openalex.org/W2572869607","https://openalex.org/W2596357610","https://openalex.org/W2602066128","https://openalex.org/W2617642855","https://openalex.org/W2658102606","https://openalex.org/W2731463498","https://openalex.org/W2762429440","https://openalex.org/W2767674388","https://openalex.org/W2773201695","https://openalex.org/W2789730491","https://openalex.org/W2790219143","https://openalex.org/W2795613806","https://openalex.org/W2803564891","https://openalex.org/W4248381741","https://openalex.org/W7020495383"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2544838361","https://openalex.org/W2315418312","https://openalex.org/W2501264310","https://openalex.org/W2111927334","https://openalex.org/W3123253234","https://openalex.org/W2113447317","https://openalex.org/W4205434950","https://openalex.org/W4378174414","https://openalex.org/W4391766543"],"abstract_inverted_index":{"An":[0],"output":[1],"feedback":[2],"finite-time":[3,57],"control":[4,25,51,91],"strategy":[5],"for":[6,46],"five":[7],"degree":[8],"of":[9,35,49,89],"freedoms":[10],"(DOF)":[11],"upper-limb":[12,79],"exoskeleton":[13,37],"is":[14,26,62],"investigated":[15],"in":[16],"this":[17],"paper.":[18],"First,":[19],"a":[20,56],"multivariable":[21],"second-order":[22],"sliding":[23],"mode":[24],"proposed":[27],"to":[28,64,85],"improve":[29],"the":[30,36,47,67,71,77,87,90],"response":[31],"speed":[32],"and":[33,42,70],"stability":[34],"system":[38],"with":[39,53],"parameter":[40],"uncertainties":[41],"external":[43],"disturbances.":[44],"Furthermore,":[45],"sake":[48],"high":[50],"precision":[52],"limited":[54],"information,":[55],"linear":[58],"extended":[59],"state":[60],"observer":[61],"constructed":[63],"estimate":[65],"both":[66],"unmeasured":[68],"states":[69],"lumped":[72],"perturbations.":[73],"Finally,":[74],"by":[75],"utilizing":[76],"5-DOF":[78],"model,":[80],"simulation":[81],"results":[82],"are":[83],"presented":[84],"demonstrate":[86],"effectiveness":[88],"strategy.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}