{"id":"https://openalex.org/W4408222615","doi":"https://doi.org/10.1109/tase.2025.3548986","title":"Fractional-Order Lyapunov-Based Backstepping-Like Feedback Control of N-DOF Mechanical Systems","display_name":"Fractional-Order Lyapunov-Based Backstepping-Like Feedback Control of N-DOF Mechanical Systems","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408222615","doi":"https://doi.org/10.1109/tase.2025.3548986"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3548986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3548986","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/A5067785531","display_name":"Xiaolei Li","orcid":"https://orcid.org/0000-0001-8099-3687"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaolei Li","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China","School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101948041","display_name":"Xiaogang Wang","orcid":"https://orcid.org/0000-0002-4694-2023"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Wang","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China","School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104542232","display_name":"Qixin Kui","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Kui","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China","School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026898193","display_name":"Weiran Yao","orcid":"https://orcid.org/0000-0002-6570-3888"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiran Yao","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China","School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051234799","display_name":"Guanghui Sun","orcid":"https://orcid.org/0000-0003-1623-2220"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Sun","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China","School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067785531"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.3234,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86565507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"12949","last_page":"12959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9879000186920166,"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":0.9879000186920166,"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":0.9785000085830688,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9781000018119812,"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/backstepping","display_name":"Backstepping","score":0.9137251377105713},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7802708148956299},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6109205484390259},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.537510097026825},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.5117053985595703},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5105803608894348},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5094619393348694},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4730773866176605},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4490790367126465},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.43935665488243103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43093764781951904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3771906793117523},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3225245475769043},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2845412790775299},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16022458672523499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09090220928192139}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9137251377105713},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7802708148956299},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6109205484390259},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.537510097026825},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.5117053985595703},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5105803608894348},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5094619393348694},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4730773866176605},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4490790367126465},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.43935665488243103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43093764781951904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3771906793117523},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3225245475769043},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2845412790775299},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16022458672523499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09090220928192139},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3548986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3548986","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":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1807396404","display_name":null,"funder_award_id":"2023M740913","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3616905320","display_name":null,"funder_award_id":"62473109","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5352775038","display_name":null,"funder_award_id":"62303139","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5502350141","display_name":null,"funder_award_id":"62173107","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6783123797","display_name":null,"funder_award_id":"2023M740913","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G994011246","display_name":null,"funder_award_id":"U2441206","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2008009294","https://openalex.org/W2036266090","https://openalex.org/W2058860728","https://openalex.org/W2078598301","https://openalex.org/W2158970259","https://openalex.org/W2395392600","https://openalex.org/W2532705076","https://openalex.org/W2567309739","https://openalex.org/W2568770738","https://openalex.org/W2807358671","https://openalex.org/W2888244787","https://openalex.org/W2890799458","https://openalex.org/W2919663910","https://openalex.org/W2985342878","https://openalex.org/W3001478082","https://openalex.org/W3003302312","https://openalex.org/W3131832144","https://openalex.org/W3162094662","https://openalex.org/W3200068961","https://openalex.org/W4210794442","https://openalex.org/W4225727437","https://openalex.org/W4361853938","https://openalex.org/W4384304062","https://openalex.org/W4387129609","https://openalex.org/W4388838109","https://openalex.org/W4391936031","https://openalex.org/W4400646437","https://openalex.org/W4401537233","https://openalex.org/W4402215098","https://openalex.org/W6602327797"],"related_works":["https://openalex.org/W4237316100","https://openalex.org/W1847613412","https://openalex.org/W2314968026","https://openalex.org/W4382203996","https://openalex.org/W2907038991","https://openalex.org/W2057545879","https://openalex.org/W2375061895","https://openalex.org/W2015036175","https://openalex.org/W1541307762","https://openalex.org/W2356016423"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"a":[3,10,30,44,63,94,127,171,206,216],"fractional-order":[4,27,32,47,64,97,152,162,227],"control":[5,77,91,132,153,163,211,267],"and":[6,22,57,75,103,109,118,130,137,147,164,184,196,209,246,260,276,280],"stability":[7,34,165,247],"scheme":[8,166,268],"for":[9,224,264,271],"class":[11,45,172],"of":[12,43,46,79,87,96,149,173,181,199,219,248,256],"n-DOF":[13,156,175,200],"mechanical":[14,80,157,176,201,220,249,257],"systems":[15,221],"that":[16],"are":[17,107,140,262],"subject":[18],"to":[19,39,71,113,125,143,160,169,190,204,241,269],"actuator":[20,100,116,194,273],"saturation":[21,117,195,274],"unknown":[23,119,279],"disturbances.":[24],"By":[25],"the":[26,41,53,85,88,115,145,150,193,214,226,238,243,253,265,272,278],"Leibniz":[28],"rule,":[29],"generalized":[31,239],"Lyapunov":[33],"(FOLS)":[35],"method":[36],"is":[37,69,167,179,222],"developed":[38,168],"support":[40],"design":[42],"robust":[48,129,208],"controllers,":[49],"which":[50,82,178],"can":[51,83,187,233],"guarantee":[52,242],"uniform":[54],"ultimate":[55],"boundedness":[56],"faster":[58],"convergence.":[59],"Based":[60],"on":[61,237],"this,":[62],"backstepping-like":[65],"feedback":[66],"controller":[67],"(FOBFC)":[68],"raised":[70,235],"realize":[72],"an":[73],"effective":[74],"stable":[76,131,210],"performance":[78],"systems,":[81,177,202,258],"ameliorate":[84],"shortages":[86],"traditional":[89],"backstepping":[90],"effectively.":[92,283],"Moreover,":[93],"set":[95],"methods,":[98],"including":[99],"compensation":[101],"(FOAC)":[102],"disturbance":[104,198],"observer":[105],"(FODO),":[106],"proposed":[108,151,266],"involved":[110],"in":[111,155],"FOBFC":[112,231],"handle":[114,277],"time-varying":[120,197,281],"disturbances,":[121],"making":[122],"it":[123],"possible":[124],"achieve":[126],"more":[128,207],"performance.":[133,212],"Finally,":[134],"numerical":[135],"simulations":[136],"comparative":[138],"experiments":[139],"carried":[141],"out":[142],"demonstrate":[144],"effectiveness":[146],"superiority":[148],"scheme,":[154],"systems.":[158,250],"Note":[159],"Practitioners\u2014A":[161],"regulate":[170],"practical":[174,254],"composed":[180],"FOBFC,":[182],"FOAC":[183,259],"FODO.":[185],"It":[186],"be":[188,234],"applied":[189],"deal":[191],"with":[192],"contributing":[203],"realizing":[205],"In":[213],"application,":[215],"Euler-Lagrange":[217],"dynamics":[218],"required":[223],"constructing":[225],"tracking":[228],"errors.":[229],"Subsequently,":[230],"law":[232],"based":[236],"FOLS,":[240],"asymptotic":[244],"convergence":[245],"To":[251],"address":[252],"issues":[255],"FODO":[261],"necessary":[263],"compensate":[270],"adaptively,":[275],"disturbances":[282]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}