{"id":"https://openalex.org/W7108688461","doi":"https://doi.org/10.1109/access.2025.3640936","title":"Prescribed Performance Control of Ammunition Loading Manipulator Arm Considering Actuator Saturation and Nonlinear Friction","display_name":"Prescribed Performance Control of Ammunition Loading Manipulator Arm Considering Actuator Saturation and Nonlinear Friction","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7108688461","doi":"https://doi.org/10.1109/access.2025.3640936"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3640936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3640936","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":"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://doi.org/10.1109/access.2025.3640936","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jiehao Wang","orcid":"https://orcid.org/0009-0000-5472-9233"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiehao Wang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0000-5472-9233","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Quan Zou","orcid":"https://orcid.org/0000-0003-3455-8152"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Zou","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3455-8152","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yadong Xu","orcid":"https://orcid.org/0009-0001-5243-069X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yadong Xu","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0001-5243-069X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":null,"display_name":"Guangbin Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangbin Feng","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.53074066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"207222","last_page":"207237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3230000138282776,"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":0.3230000138282776,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.15800000727176666,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.11150000244379044,"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":0.8101000189781189},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6805999875068665},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5532000064849854},{"id":"https://openalex.org/keywords/hyperbolic-function","display_name":"Hyperbolic function","score":0.5001999735832214},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.45680001378059387},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45329999923706055},{"id":"https://openalex.org/keywords/ammunition","display_name":"Ammunition","score":0.43689998984336853},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.3772999942302704},{"id":"https://openalex.org/keywords/radial-basis-function","display_name":"Radial basis function","score":0.37220001220703125}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8101000189781189},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6805999875068665},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5532000064849854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5139999985694885},{"id":"https://openalex.org/C92047909","wikidata":"https://www.wikidata.org/wiki/Q204034","display_name":"Hyperbolic function","level":2,"score":0.5001999735832214},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45329999923706055},{"id":"https://openalex.org/C554616519","wikidata":"https://www.wikidata.org/wiki/Q185785","display_name":"Ammunition","level":2,"score":0.43689998984336853},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.37220001220703125},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.3472999930381775},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C202286095","wikidata":"https://www.wikidata.org/wiki/Q579262","display_name":"Error function","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.32190001010894775},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3640936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3640936","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":"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"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3640936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3640936","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":"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/G6232647268","display_name":null,"funder_award_id":"U2341296","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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2076597241","https://openalex.org/W2097121541","https://openalex.org/W2122836694","https://openalex.org/W2523750111","https://openalex.org/W2546528784","https://openalex.org/W2775739549","https://openalex.org/W2782559590","https://openalex.org/W2888027894","https://openalex.org/W2901615853","https://openalex.org/W2967079174","https://openalex.org/W2971639449","https://openalex.org/W2995900676","https://openalex.org/W3026790165","https://openalex.org/W3048237540","https://openalex.org/W3091501177","https://openalex.org/W3092382328","https://openalex.org/W3148904405","https://openalex.org/W3162730616","https://openalex.org/W3193905726","https://openalex.org/W3198722382","https://openalex.org/W3206619229","https://openalex.org/W4205801813","https://openalex.org/W4206162861","https://openalex.org/W4214522055","https://openalex.org/W4285595563","https://openalex.org/W4287887103","https://openalex.org/W4298141596","https://openalex.org/W4312002417","https://openalex.org/W4313646433","https://openalex.org/W4315783900","https://openalex.org/W4319978296","https://openalex.org/W4382626345","https://openalex.org/W4388499842","https://openalex.org/W4390811119","https://openalex.org/W4392567245","https://openalex.org/W4399532225"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,58,74,79,85,116,122,138,162,165],"state":[4],"constraint":[5],"control":[6,25,75],"problem":[7,87],"of":[8,118,146,164],"ammunition":[9],"loading":[10],"manipulator":[11],"arms":[12],"(ALMA)":[13],"with":[14],"nonlinear":[15,104],"friction,":[16],"saturation,":[17,83],"and":[18,27,47,106,109,124,137,158],"external":[19,119],"disturbances":[20,120],"by":[21,38,78,89],"using":[22],"prescribed":[23],"performance":[24,151],"(PPC)":[26],"backstepping.":[28],"The":[29,127],"traditional":[30,34],"exponential":[31],"function":[32,42,69,96],"in":[33,153],"PPC":[35,59],"is":[36,55,70,91,130],"replaced":[37],"a":[39,65,144,149],"hyperbolic":[40],"tangent":[41],"to":[43,61,72,102,114,132,143],"improve":[44],"convergence":[45,49],"speed":[46],"make":[48],"time":[50],"controllable.":[51],"A":[52],"fragility-preventing":[53],"coefficient":[54],"introduced":[56],"into":[57],"framework":[60],"reduce":[62],"saturation.":[63],"Meanwhile,":[64],"continuous":[66],"Gaussian":[67],"error":[68,86,140],"employed":[71],"approximate":[73],"quantity":[76],"affected":[77],"nonlinearity":[80],"resulting":[81],"from":[82],"thus":[84],"caused":[88],"saturation":[90],"solved.":[92],"Moreover,":[93],"radial":[94],"basis":[95],"neural":[97],"networks":[98],"(RBFNNs)":[99],"are":[100,112],"used":[101],"estimate":[103],"friction":[105],"unmolded":[107],"dynamics,":[108],"adaptive":[110],"laws":[111],"implemented":[113],"mitigate":[115],"influence":[117],"on":[121],"motor":[123],"load":[125],"side.":[126],"closed-loop":[128],"system":[129],"proven":[131],"be":[133],"semi-globally":[134],"uniform":[135],"stable,":[136],"tracking":[139],"can":[141],"converge":[142],"neighborhood":[145],"origin":[147],"within":[148],"given":[150],"bound":[152],"all":[154],"cases.":[155],"Finally,":[156],"simulation":[157],"experimental":[159],"results":[160],"demonstrate":[161],"effectiveness":[163],"proposed":[166],"method.":[167]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-05T00:00:00"}