{"id":"https://openalex.org/W2547419179","doi":"https://doi.org/10.1109/iconac.2016.7604950","title":"Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time","display_name":"Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2547419179","doi":"https://doi.org/10.1109/iconac.2016.7604950","mag":"2547419179"},"language":"en","primary_location":{"id":"doi:10.1109/iconac.2016.7604950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iconac.2016.7604950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 22nd International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research-information.bris.ac.uk/en/publications/67a1b5cb-f075-4d91-9303-b104de44e260","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045079350","display_name":"Runxian Yang","orcid":"https://orcid.org/0000-0002-5345-6461"},"institutions":[{"id":"https://openalex.org/I4210118178","display_name":"Yangzhou Polytechnic Institute","ror":"https://ror.org/02grzhe48","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210118178"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]},{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Runxian Yang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Electric and IT, Yangzhou Polytechnic Institute, Yangzhou, China","Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Electric and IT, Yangzhou Polytechnic Institute, Yangzhou, China","institution_ids":["https://openalex.org/I4210118178"]},{"raw_affiliation_string":"Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK"],"affiliations":[{"raw_affiliation_string":"Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024678101","display_name":"Mou Chen","orcid":"https://orcid.org/0000-0001-7158-8575"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mou Chen","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008377523","display_name":"Jing Na","orcid":"https://orcid.org/0000-0002-3067-1580"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jing Na","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045079350"],"corresponding_institution_ids":["https://openalex.org/I39586589","https://openalex.org/I4210118178","https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.2707,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61439413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"383","last_page":"388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9961000084877014,"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":0.8383170366287231},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.660214900970459},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5951228737831116},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5292761921882629},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5224748849868774},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.500154972076416},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4980950355529785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4881463944911957},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.46226465702056885},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4596867263317108},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.44643649458885193},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.44613248109817505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4387795627117157},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.40689027309417725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35575127601623535},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2978924512863159},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23422938585281372},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20508453249931335},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17642036080360413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14388468861579895}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8383170366287231},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.660214900970459},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5951228737831116},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5292761921882629},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5224748849868774},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.500154972076416},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4980950355529785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4881463944911957},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.46226465702056885},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4596867263317108},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.44643649458885193},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.44613248109817505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4387795627117157},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.40689027309417725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35575127601623535},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2978924512863159},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23422938585281372},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20508453249931335},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17642036080360413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14388468861579895},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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":3,"locations":[{"id":"doi:10.1109/iconac.2016.7604950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iconac.2016.7604950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 22nd International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/67a1b5cb-f075-4d91-9303-b104de44e260","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/67a1b5cb-f075-4d91-9303-b104de44e260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yang, R, Yang, C, Chen, M & Na, J 2016, Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. in 2016 22nd International Conference on Automation and Computing (ICAC 2016) : Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom., 7604950, Institute of Electrical and Electronics Engineers (IEEE), pp. 395-400. https://doi.org/10.1109/IConAC.2016.7604950","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/67a1b5cb-f075-4d91-9303-b104de44e260","is_oa":false,"landing_page_url":"https://hdl.handle.net/1983/67a1b5cb-f075-4d91-9303-b104de44e260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:openaire/67a1b5cb-f075-4d91-9303-b104de44e260","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/67a1b5cb-f075-4d91-9303-b104de44e260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yang, R, Yang, C, Chen, M & Na, J 2016, Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. in 2016 22nd International Conference on Automation and Computing (ICAC 2016) : Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom., 7604950, Institute of Electrical and Electronics Engineers (IEEE), pp. 395-400. https://doi.org/10.1109/IConAC.2016.7604950","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G325947041","display_name":null,"funder_award_id":"EP/L026856/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8264771511","display_name":null,"funder_award_id":"EP/L026856/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1642497980","https://openalex.org/W1983330826","https://openalex.org/W1996319498","https://openalex.org/W2019609553","https://openalex.org/W2034949736","https://openalex.org/W2068949087","https://openalex.org/W2074771309","https://openalex.org/W2075335042","https://openalex.org/W2076261642","https://openalex.org/W2086220968","https://openalex.org/W2086808096","https://openalex.org/W2104922364","https://openalex.org/W2121570671","https://openalex.org/W2123998235","https://openalex.org/W2132441605","https://openalex.org/W2140974246","https://openalex.org/W2173989700","https://openalex.org/W2559887965"],"related_works":["https://openalex.org/W1603339078","https://openalex.org/W2567126558","https://openalex.org/W2131024939","https://openalex.org/W3102460617","https://openalex.org/W2062963477","https://openalex.org/W2118176291","https://openalex.org/W1990502710","https://openalex.org/W2159479095","https://openalex.org/W2131905798","https://openalex.org/W2291706033"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"have":[4,100],"developed":[5],"a":[6,16,61],"disturbance":[7,50],"observer":[8],"(DOB)":[9],"based":[10],"on":[11],"robust":[12,65,115],"control":[13,62,109,116],"method":[14],"for":[15,47,122],"class":[17],"of":[18,29,67,86],"nonlinear":[19],"robot":[20,33,69,123],"manipulators":[21,124],"with":[22,125],"time-varying":[23,126],"uncertainty.":[24,127],"To":[25],"facilitate":[26],"digital":[27],"implementation":[28],"the":[30,32,87,107],"controller,":[31],"system":[34,70],"is":[35,43],"formulated":[36],"in":[37,60,113],"discrete":[38],"time.":[39],"The":[40,64],"DOB":[41,88],"controller":[42,89],"design":[44],"to":[45,103],"compensate":[46],"uncertainty":[48],"and":[49,56,80,105,117],"by":[51,75],"bounding":[52],"both":[53],"all":[54],"states":[55],"observed":[57],"uncertain":[58],"function":[59],"region.":[63],"stability":[66],"closed-loop":[68],"can":[71],"be":[72],"well":[73],"guaranteed":[74],"applying":[76],"Schur":[77],"complement":[78],"theory":[79],"Lyapunov":[81],"analysis,":[82],"such":[83],"that":[84],"parameters":[85],"are":[90],"derived":[91],"using":[92],"linear":[93],"matrix":[94],"inequalities":[95],"(LMIs)":[96],"theory.":[97],"Simulation":[98],"studies":[99],"been":[101],"performed":[102],"test":[104],"verify":[106],"proposed":[108],"scheme,":[110],"which":[111],"results":[112],"supreme":[114],"satisfied":[118],"trajectory":[119],"tracking":[120],"performance":[121]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
