{"id":"https://openalex.org/W4312890878","doi":"https://doi.org/10.1109/indin51773.2022.9976068","title":"Observer-Based Robust Adaptive Tracking for Uncertain Robot Manipulators with External Force Disturbance Rejection","display_name":"Observer-Based Robust Adaptive Tracking for Uncertain Robot Manipulators with External Force Disturbance Rejection","publication_year":2022,"publication_date":"2022-07-25","ids":{"openalex":"https://openalex.org/W4312890878","doi":"https://doi.org/10.1109/indin51773.2022.9976068"},"language":"en","primary_location":{"id":"doi:10.1109/indin51773.2022.9976068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin51773.2022.9976068","pdf_url":null,"source":{"id":"https://openalex.org/S4363608444","display_name":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","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":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.kfupm.edu.sa/139539/1/OBSERVER_BASED_ROBUST_ADAPTIVE_TRACKING_FOR_UNCERTAIN_ROBOT_MANIPULATORS_WITH_EXTERNAL_FORCE_DISTURBANCE_REJECTION_g201301570.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017399695","display_name":"Abdul Rehan Khan Mohammed","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Abdul Rehan Khan Mohammed","raw_affiliation_strings":["WMG, University of Warwick,Coventry,United Kingdom","WMG, University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"WMG, University of Warwick,Coventry,United Kingdom","institution_ids":["https://openalex.org/I39555362"]},{"raw_affiliation_string":"WMG, University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612301","display_name":"Jiayi Zhang","orcid":"https://orcid.org/0000-0003-2434-4329"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jiayi Zhang","raw_affiliation_strings":["WMG, University of Warwick,Coventry,United Kingdom","WMG, University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"WMG, University of Warwick,Coventry,United Kingdom","institution_ids":["https://openalex.org/I39555362"]},{"raw_affiliation_string":"WMG, University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061888967","display_name":"Bilal Ahmad","orcid":"https://orcid.org/0000-0002-2752-9161"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ahmad Bilal","raw_affiliation_strings":["WMG, University of Warwick,Coventry,United Kingdom","WMG, University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"WMG, University of Warwick,Coventry,United Kingdom","institution_ids":["https://openalex.org/I39555362"]},{"raw_affiliation_string":"WMG, University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017399695"],"corresponding_institution_ids":["https://openalex.org/I39555362"],"apc_list":null,"apc_paid":null,"fwci":0.7082,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66027122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"2","issue":null,"first_page":"387","last_page":"392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T13644","display_name":"Control Systems in Engineering","score":0.9962999820709229,"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/control-theory","display_name":"Control theory (sociology)","score":0.8684558868408203},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5934684872627258},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5467482805252075},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5414130687713623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52679044008255},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4977782070636749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4739922285079956},{"id":"https://openalex.org/keywords/dead-zone","display_name":"Dead zone","score":0.45221391320228577},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.434583842754364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42506444454193115},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.29553818702697754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2795059084892273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1906944215297699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17241758108139038}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8684558868408203},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5934684872627258},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5467482805252075},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5414130687713623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52679044008255},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4977782070636749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4739922285079956},{"id":"https://openalex.org/C63840607","wikidata":"https://www.wikidata.org/wiki/Q1236263","display_name":"Dead zone","level":2,"score":0.45221391320228577},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.434583842754364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42506444454193115},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29553818702697754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2795059084892273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1906944215297699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17241758108139038},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/indin51773.2022.9976068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin51773.2022.9976068","pdf_url":null,"source":{"id":"https://openalex.org/S4363608444","display_name":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","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":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:generic.eprints.org:139539","is_oa":true,"landing_page_url":null,"pdf_url":"http://eprints.kfupm.edu.sa/139539/1/OBSERVER_BASED_ROBUST_ADAPTIVE_TRACKING_FOR_UNCERTAIN_ROBOT_MANIPULATORS_WITH_EXTERNAL_FORCE_DISTURBANCE_REJECTION_g201301570.pdf","source":{"id":"https://openalex.org/S4306400607","display_name":"Research Publication Repository of King Fahd University of Petroleum and Minerals (King Fahd University of Petroleum and Minerals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134085113","host_organization_name":"King Fahd University of Petroleum and Minerals","host_organization_lineage":["https://openalex.org/I134085113"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"pmh:oai:wrap.warwick.ac.uk:172197","is_oa":false,"landing_page_url":"https://wrap.warwick.ac.uk/172197/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400665","display_name":"Warwick Research Archive Portal (University of Warwick)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39555362","host_organization_name":"University of Warwick","host_organization_lineage":["https://openalex.org/I39555362"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Item"}],"best_oa_location":{"id":"pmh:oai:generic.eprints.org:139539","is_oa":true,"landing_page_url":null,"pdf_url":"http://eprints.kfupm.edu.sa/139539/1/OBSERVER_BASED_ROBUST_ADAPTIVE_TRACKING_FOR_UNCERTAIN_ROBOT_MANIPULATORS_WITH_EXTERNAL_FORCE_DISTURBANCE_REJECTION_g201301570.pdf","source":{"id":"https://openalex.org/S4306400607","display_name":"Research Publication Repository of King Fahd University of Petroleum and Minerals (King Fahd University of Petroleum and Minerals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134085113","host_organization_name":"King Fahd University of Petroleum and Minerals","host_organization_lineage":["https://openalex.org/I134085113"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312890878.pdf","grobid_xml":"https://content.openalex.org/works/W4312890878.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1593904934","https://openalex.org/W1967928100","https://openalex.org/W1984598383","https://openalex.org/W1984862525","https://openalex.org/W2012646195","https://openalex.org/W2042557197","https://openalex.org/W2064337740","https://openalex.org/W2086767939","https://openalex.org/W2087667508","https://openalex.org/W2108401895","https://openalex.org/W2126962467","https://openalex.org/W2132622638","https://openalex.org/W2151286484","https://openalex.org/W2162072750","https://openalex.org/W2166651152","https://openalex.org/W2189290989","https://openalex.org/W2965809978","https://openalex.org/W2969447641","https://openalex.org/W2973843340","https://openalex.org/W3110856366","https://openalex.org/W3122928565","https://openalex.org/W3209952908","https://openalex.org/W6676067097","https://openalex.org/W6687089402","https://openalex.org/W6803217639"],"related_works":["https://openalex.org/W1504649730","https://openalex.org/W2727326087","https://openalex.org/W2789860620","https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W2152839317","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2518050114","https://openalex.org/W2784029343"],"abstract_inverted_index":{"With":[0],"the":[1,6,11,30,57,65,74,78,83,122,125,133,143,149],"rapid":[2],"growth":[3],"in":[4,26,73],"technology,":[5],"industries":[7],"are":[8,62,90],"fast-moving":[9],"from":[10],"current":[12],"automation":[13],"standing":[14],"into":[15],"robotisation":[16],"to":[17,46,55,92,116],"increase":[18],"productivity":[19],"and":[20,50,71,82,88,113,120,146],"deliver":[21],"uniform":[22],"quality.":[23],"This":[24,36],"requirement,":[25],"turn,":[27],"has":[28],"escalated":[29],"demand":[31],"for":[32,64,104,141],"robot":[33,58],"control":[34,44,56,75,98,137],"schemes.":[35],"paper":[37],"proposes":[38],"an":[39,101],"observer-based":[40],"robust":[41,118,135],"adaptive":[42,136],"tracking":[43,119,150],"scheme":[45,99,138],"minimise":[47],"model":[48],"uncertainties":[49,70],"external":[51],"force":[52],"disturbance":[53],"effect":[54],"manipulator.":[59],"No":[60],"considerations":[61],"required":[63],"upper":[66],"bound":[67],"of":[68,80,85,148],"system":[69,123],"disturbances":[72],"design.":[76],"Plus,":[77],"speed":[79],"variation":[81],"magnitude":[84],"unknown":[86],"parameters":[87],"perturbations":[89],"assumed":[91],"have":[93],"no":[94],"limitations.":[95],"The":[96],"proposed":[97,134],"uses":[100],"adaptation":[102],"mechanism":[103],"a":[105],"high":[106],"gain":[107],"nonlinear":[108],"observer":[109],"along":[110],"with":[111],"simplicity":[112],"universality":[114],"properties":[115],"ensure":[117],"make":[121],"follow":[124],"desired":[126],"reference":[127],"model.":[128],"Simulation":[129],"results":[130],"show":[131],"that":[132],"achieves":[139],"boundedness":[140],"all":[142],"closed-loop":[144],"signals":[145],"convergence":[147],"error.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-17T17:19:04.345684","created_date":"2025-10-10T00:00:00"}