{"id":"https://openalex.org/W3037113038","doi":"https://doi.org/10.1109/access.2020.3004823","title":"Adaptive Control for a Pneumatic Muscle Joint System With Saturation Input","display_name":"Adaptive Control for a Pneumatic Muscle Joint System With Saturation Input","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3037113038","doi":"https://doi.org/10.1109/access.2020.3004823","mag":"3037113038"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3004823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3004823","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09125918.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://ieeexplore.ieee.org/ielx7/6287639/8948470/09125918.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033613326","display_name":"Jianping Cai","orcid":"https://orcid.org/0000-0003-4724-796X"},"institutions":[{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian-Ping Cai","raw_affiliation_strings":["Department of Basic, Zhejiang University of Water Resources and Electric Power, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4724-796X","affiliations":[{"raw_affiliation_string":"Department of Basic, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","institution_ids":["https://openalex.org/I4210160030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009904858","display_name":"Feng Qian","orcid":"https://orcid.org/0000-0003-4725-7885"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Qian","raw_affiliation_strings":["College of Mechanical Electrical Engineering, China Jiliang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4725-7885","affiliations":[{"raw_affiliation_string":"College of Mechanical Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065221389","display_name":"Rui Yu","orcid":"https://orcid.org/0000-0002-8594-6457"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Yu","raw_affiliation_strings":["College of Mechanical Electrical Engineering, China Jiliang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8594-6457","affiliations":[{"raw_affiliation_string":"College of Mechanical Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102332220","display_name":"Lujuan Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lujuan Shen","raw_affiliation_strings":["Department of Basic, Zhejiang University of Water Resources and Electric Power, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Basic, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","institution_ids":["https://openalex.org/I4210160030"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033613326"],"corresponding_institution_ids":["https://openalex.org/I4210160030"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5224,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.61214592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"117698","last_page":"117705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965000152587891,"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":0.9965000152587891,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9940000176429749,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9916999936103821,"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/computer-science","display_name":"Computer science","score":0.5899263024330139},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5248194336891174},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5157139897346497},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5013110637664795},{"id":"https://openalex.org/keywords/saturation","display_name":"Saturation (graph theory)","score":0.4811895489692688},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4757004678249359},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44065117835998535},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32327955961227417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28695911169052124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25608330965042114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18097662925720215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12082567811012268},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06635048985481262}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5899263024330139},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5248194336891174},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5157139897346497},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5013110637664795},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.4811895489692688},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4757004678249359},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44065117835998535},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32327955961227417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28695911169052124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25608330965042114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18097662925720215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12082567811012268},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06635048985481262},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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":2,"locations":[{"id":"doi:10.1109/access.2020.3004823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3004823","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09125918.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5a50b9867d9447c294d3d6050906ce1e","is_oa":true,"landing_page_url":"https://doaj.org/article/5a50b9867d9447c294d3d6050906ce1e","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 8, Pp 117698-117705 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3004823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3004823","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09125918.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7852722060","display_name":null,"funder_award_id":"61573322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3037113038.pdf","grobid_xml":"https://content.openalex.org/works/W3037113038.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1972812456","https://openalex.org/W2024563395","https://openalex.org/W2061061967","https://openalex.org/W2082283542","https://openalex.org/W2084337180","https://openalex.org/W2098742945","https://openalex.org/W2106557935","https://openalex.org/W2112167844","https://openalex.org/W2143121414","https://openalex.org/W2160922164","https://openalex.org/W2514514867","https://openalex.org/W2550998531","https://openalex.org/W2734462742","https://openalex.org/W2734700263","https://openalex.org/W2765452429","https://openalex.org/W2906244940","https://openalex.org/W2909711564","https://openalex.org/W2910543705","https://openalex.org/W2913457334","https://openalex.org/W2941072788","https://openalex.org/W2977367995","https://openalex.org/W2977961330","https://openalex.org/W3000678188","https://openalex.org/W3006099011","https://openalex.org/W3013177357","https://openalex.org/W3013512999","https://openalex.org/W3032943965","https://openalex.org/W6656465680","https://openalex.org/W6676689636"],"related_works":["https://openalex.org/W2969358681","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W2615607975","https://openalex.org/W194970950","https://openalex.org/W2000675896","https://openalex.org/W2342009288"],"abstract_inverted_index":{"Pneumatic":[0],"muscle":[1,55],"is":[2,66,92,111],"a":[3,22,38],"relatively":[4],"new":[5],"pneumatic":[6,54],"component":[7],"in":[8],"some":[9],"precise":[10],"and":[11,15,42,63,80,100,118],"flexible":[12],"control":[13,40,50,109,132],"systems":[14,17],"such":[16],"are":[18,123],"needed":[19],"to":[20,36,94,125],"achieve":[21,37],"higher":[23,39],"controlling":[24],"performance.":[25,44],"However,":[26],"the":[27,48,53,97,127,130],"existence":[28],"of":[29,89,129],"practical":[30],"uncertainties":[31,101],"will":[32],"make":[33],"it":[34],"hard":[35],"accuracy":[41],"better":[43],"In":[45],"this":[46],"paper,":[47],"adaptive":[49,108],"problem":[51],"for":[52],"joint":[56],"system":[57],"with":[58,96],"input":[59],"saturation,":[60],"external":[61],"disturbance":[62],"modeling":[64,104],"errors":[65],"investigated.":[67],"The":[68],"auxiliary":[69,116],"signals":[70,117],"r":[71,76],"<sub":[72,77,83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[73,78,84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[74],",":[75],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sub>":[79],"function":[81,91],"\u03c8":[82],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">sgn</sub>":[85],"as":[86],"an":[87,107],"approximation":[88],"sign(\u00b7)":[90],"introduced":[93],"deal":[95],"unknown":[98],"saturation":[99],"caused":[102],"by":[103,113],"errors.":[105],"Then":[106],"scheme":[110],"proposed":[112,131],"using":[114],"these":[115],"functions.":[119],"Finally,":[120],"simulation":[121],"studies":[122],"used":[124],"verify":[126],"effectiveness":[128],"scheme.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
