{"id":"https://openalex.org/W4211071060","doi":"https://doi.org/10.1109/icnsc52481.2021.9702127","title":"Research on Contact Force Tracking of Robotic Manipulators Based on Active Disturbance Rejection Control","display_name":"Research on Contact Force Tracking of Robotic Manipulators Based on Active Disturbance Rejection Control","publication_year":2021,"publication_date":"2021-12-03","ids":{"openalex":"https://openalex.org/W4211071060","doi":"https://doi.org/10.1109/icnsc52481.2021.9702127"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc52481.2021.9702127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc52481.2021.9702127","pdf_url":null,"source":{"id":"https://openalex.org/S4363608459","display_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5064478715","display_name":"Yibo Tu","orcid":"https://orcid.org/0009-0001-5917-9522"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibo Tu","raw_affiliation_strings":["Huaqiao University,College of Information Science and Engineering,Xiamen,China","College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huaqiao University,College of Information Science and Engineering,Xiamen,China","institution_ids":["https://openalex.org/I119045251"]},{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054071597","display_name":"Weishi Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weishi Hu","raw_affiliation_strings":["Huaqiao University,Dept. of Laboratory & Equipment Management,Xiamen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huaqiao University,Dept. of Laboratory & Equipment Management,Xiamen,China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077722126","display_name":"Hui Shao","orcid":"https://orcid.org/0000-0003-0855-0704"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Shao","raw_affiliation_strings":["Huaqiao University,College of Information Science and Engineering,Xiamen,China","College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huaqiao University,College of Information Science and Engineering,Xiamen,China","institution_ids":["https://openalex.org/I119045251"]},{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005580952","display_name":"LI Gao-liang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160868","display_name":"Beijing Survey and Design Institute (China)","ror":"https://ror.org/04xhs0x67","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210160868"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaoliang Li","raw_affiliation_strings":["Beijing Huahang Radio Survey Institute,Beijing,China","Beijing Huahang Radio Survey Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Huahang Radio Survey Institute,Beijing,China","institution_ids":["https://openalex.org/I4210160868"]},{"raw_affiliation_string":"Beijing Huahang Radio Survey Institute, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72896087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9969000220298767,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9925000071525574,"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":0.7796486616134644},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.755565881729126},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.7245513796806335},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7241065502166748},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6652278900146484},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6360058784484863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5958166122436523},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.5511012077331543},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5295644402503967},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5277413129806519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5200571417808533},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47586673498153687},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46207502484321594},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4539286494255066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38306373357772827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30401667952537537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20356044173240662},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.16204729676246643},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1135396957397461}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7796486616134644},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.755565881729126},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.7245513796806335},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7241065502166748},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6652278900146484},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6360058784484863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5958166122436523},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.5511012077331543},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5295644402503967},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5277413129806519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5200571417808533},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47586673498153687},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46207502484321594},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4539286494255066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38306373357772827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30401667952537537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20356044173240662},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.16204729676246643},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1135396957397461},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icnsc52481.2021.9702127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc52481.2021.9702127","pdf_url":null,"source":{"id":"https://openalex.org/S4363608459","display_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321878","display_name":"Natural Science Foundation of Fujian Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2017280345","https://openalex.org/W2288836328","https://openalex.org/W2530312297","https://openalex.org/W2771354076","https://openalex.org/W2885700861","https://openalex.org/W2890377978","https://openalex.org/W2905438335","https://openalex.org/W2913401851","https://openalex.org/W3024803996","https://openalex.org/W3138146008","https://openalex.org/W3177676763"],"related_works":["https://openalex.org/W2514087717","https://openalex.org/W4210729524","https://openalex.org/W2991240131","https://openalex.org/W2953358686","https://openalex.org/W2294659156","https://openalex.org/W2353427523","https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W1983135609"],"abstract_inverted_index":{"The":[0,137],"research":[1],"importance":[2],"on":[3,66,123],"the":[4,23,27,73,81,87,94,101,111,133,141,146],"robot":[5],"contact":[6,34,59,74,105,116],"force":[7,35,39,60,75,106,134],"tracking":[8,40,61,135],"has":[9],"been":[10],"increasing":[11],"recently":[12],"due":[13],"to":[14,19,127],"a":[15,56,119],"need":[16],"for":[17,58,109],"robots":[18],"interact":[20],"more":[21],"with":[22],"outside":[24],"world.":[25],"However,":[26],"traditional":[28],"impedance":[29],"control":[30,70,121],"cannot":[31],"avoid":[32],"transient":[33],"overshoots":[36],"and":[37,42,80,131,143],"steady-state":[38],"error,":[41],"take":[43],"uncertain":[44],"disturbance":[45,68,129],"into":[46],"account":[47],"sufficiently.":[48],"To":[49],"address":[50],"these":[51],"problems,":[52],"this":[53],"paper":[54],"proposes":[55],"strategy":[57],"of":[62,104,113,145],"robotic":[63,78],"manipulators":[64],"based":[65,122],"active":[67],"rejection":[69],"(ADRC).":[71],"Firstly,":[72],"dynamic":[76],"between":[77],"manipulator":[79],"surrounding":[82],"environment":[83],"is":[84,107,125],"described":[85],"as":[86],"(nonlinear)":[88],"Hunt-Crossley":[89],"(HC)":[90],"model,":[91],"rather":[92],"than":[93],"classical":[95],"(linear)":[96],"Kelvin-Voigt":[97],"(KV)":[98],"model.":[99],"Secondly,":[100],"transition":[102],"process":[103],"designed":[108],"overcoming":[110],"defect":[112],"excessive":[114],"instantaneous":[115],"force.":[117],"Finally,":[118],"compliance":[120],"ADRC":[124],"proposed":[126],"suppress":[128],"forces":[130],"ensure":[132],"performance.":[136],"simulation":[138],"results":[139],"show":[140],"correctness":[142],"effectiveness":[144],"presented":[147],"scheme.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}