{"id":"https://openalex.org/W4376623500","doi":"https://doi.org/10.1109/tase.2023.3271654","title":"Prescribed Performance Control for Teleoperation System of Nonholonomic Constrained Mobile Manipulator Without Any Approximation Function","display_name":"Prescribed Performance Control for Teleoperation System of Nonholonomic Constrained Mobile Manipulator Without Any Approximation Function","publication_year":2023,"publication_date":"2023-05-15","ids":{"openalex":"https://openalex.org/W4376623500","doi":"https://doi.org/10.1109/tase.2023.3271654"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3271654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3271654","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","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/A5022985654","display_name":"Yana Yang","orcid":"https://orcid.org/0000-0001-6006-8566"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yana Yang","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6006-8566","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102628672","display_name":"Yuwei Yan","orcid":"https://orcid.org/0009-0005-6418-0412"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Yan","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6311-2112","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100769705","display_name":"Junpeng Li","orcid":"https://orcid.org/0000-0003-4028-2703"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Li","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-4028-2703","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058925179","display_name":"Keli Pang","orcid":"https://orcid.org/0000-0003-0903-5042"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keli Pang","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-0903-5042","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022985654"],"corresponding_institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"],"apc_list":null,"apc_paid":null,"fwci":4.1555,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.94969997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"21","issue":"3","first_page":"2900","last_page":"2911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9879999756813049,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/teleoperation","display_name":"Teleoperation","score":0.9304289817810059},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6975181698799133},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6647539138793945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6630300283432007},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5259197950363159},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.525192141532898},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4964926838874817},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4950946867465973},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49310609698295593},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4688115417957306},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3435099124908447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3210873603820801},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21402058005332947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11989212036132812}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9304289817810059},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6975181698799133},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6647539138793945},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6630300283432007},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5259197950363159},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.525192141532898},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4964926838874817},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4950946867465973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49310609698295593},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4688115417957306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3435099124908447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3210873603820801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21402058005332947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11989212036132812},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3271654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3271654","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1705705081","display_name":null,"funder_award_id":"61933009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2142902482","display_name":null,"funder_award_id":"F2020203062","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6109140660","display_name":null,"funder_award_id":"F2021203109","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6791309797","display_name":null,"funder_award_id":"F2022203036","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6841753186","display_name":null,"funder_award_id":"62073276","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8808249639","display_name":null,"funder_award_id":"F2021203054","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1988367613","https://openalex.org/W2034743631","https://openalex.org/W2046956237","https://openalex.org/W2078623127","https://openalex.org/W2105369176","https://openalex.org/W2526441609","https://openalex.org/W2575014985","https://openalex.org/W2790506641","https://openalex.org/W2896656923","https://openalex.org/W2913639712","https://openalex.org/W2963869361","https://openalex.org/W2994911708","https://openalex.org/W3006069020","https://openalex.org/W3008563869","https://openalex.org/W3023507828","https://openalex.org/W3097056191","https://openalex.org/W3098456613","https://openalex.org/W3109453504","https://openalex.org/W3109610025","https://openalex.org/W3127468038","https://openalex.org/W3164197047","https://openalex.org/W3174789982","https://openalex.org/W3193250372","https://openalex.org/W3193375675","https://openalex.org/W3200270133","https://openalex.org/W3204254124","https://openalex.org/W3212132944","https://openalex.org/W3212278972","https://openalex.org/W4200346799","https://openalex.org/W4225149163","https://openalex.org/W4225477696","https://openalex.org/W4225498988","https://openalex.org/W4225538555","https://openalex.org/W4239216443","https://openalex.org/W4240172577"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W2020829486","https://openalex.org/W2044054821","https://openalex.org/W3048265633","https://openalex.org/W3047361981","https://openalex.org/W2016451691","https://openalex.org/W4312300006"],"abstract_inverted_index":{"The":[0,267],"teleoperation":[1,41,206,265,295],"system":[2,42,207,248,296],"of":[3,40,43,72,79,88,138,161,175,188,203,212,246,256,263,271,291,304],"mobile":[4,45,60,204,293],"manipulator":[5,46,57,61,205,294],"has":[6,62],"been":[7],"widely":[8],"applied":[9,148],"for":[10,37,178],"space":[11],"exploration,":[12],"medical":[13],"assistance,":[14],"and":[15,50,66,75,112,159,166,200,231,243,269],"other":[16],"fields.":[17],"To":[18],"improve":[19,135,197,288],"operational":[20],"efficiency,":[21],"this":[22,176,189,221],"paper":[23,190],"presents":[24],"a":[25,38,63,92,115,120,232],"novel":[26],"prescribed":[27,93,234],"performance":[28,94,202,235,245],"synchronization":[29,104],"control":[30,87,224],"scheme":[31],"without":[32,208,226],"applying":[33],"any":[34,227],"approximation":[35,146],"functions":[36,147],"class":[39],"the":[44,55,59,70,76,86,89,102,109,124,132,136,139,150,157,162,173,198,210,213,217,223,241,247,251,254,261,264,272,281,289,292,301],"with":[47,54,216],"time-varying":[48,233],"delays":[49],"nonholonomic":[51,77],"constraints.":[52],"Compared":[53,215],"general":[56],"system,":[58],"larger":[64],"workspace":[65],"stronger":[67],"operability.":[68],"Yet,":[69],"heterogeneity":[71],"master-slave":[73],"robots":[74],"constraint":[78],"slave":[80],"robot":[81],"bring":[82],"many":[83],"difficulties":[84],"to":[85,99,114,134,171,184,192,196,286,299],"system.":[90,163,266],"Firstly,":[91],"function":[95,236],"(PPF)":[96],"is":[97,129,191,229,237],"designed":[98],"guarantee":[100],"that":[101],"position":[103],"errors":[105],"are":[106,144,169,274],"remained":[107],"within":[108,119],"predetermined":[110],"boundary":[111],"converge":[113],"small":[116],"preset":[117,121],"area":[118],"time.":[122],"Then,":[123],"direct":[125],"force":[126,257],"feedback":[127,258],"information":[128,259],"introduced":[130],"into":[131],"controller":[133],"transparency":[137,262,290],"teleoperation.":[140],"In":[141,280],"addition,":[142],"there":[143],"no":[145],"in":[149,220,297],"proposed":[151,230],"controller,":[152],"which":[153,239],"can":[154],"significantly":[155],"reduce":[156],"complexity":[158,211],"computation":[160],"Finally,":[164],"simulation":[165],"experimental":[167,278],"results":[168],"made":[170],"illustrate":[172],"availability":[174],"method":[177],"practical":[179],"application.":[180],"<italic":[181],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[183],"Practitioners</i>":[185],"\u2014The":[186],"motivation":[187],"develop":[193],"an":[194],"algorithm":[195,225,273],"steady-state":[199,242],"transient-state":[201,244],"increasing":[209],"controller.":[214],"existing":[218],"works,":[219],"paper,":[222],"approximators":[228],"introduced,":[238],"promotes":[240],"essentially.":[249],"At":[250],"same":[252],"time,":[253],"introduction":[255],"improves":[260],"feasibility":[268],"effectiveness":[270],"verified":[275],"on":[276],"UR5e-Husky":[277],"platform.":[279],"future,":[282],"we":[283],"will":[284],"strive":[285],"further":[287],"order":[298],"achieve":[300],"immersive":[302],"effect":[303],"operator.":[305]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
