{"id":"https://openalex.org/W4415482073","doi":"https://doi.org/10.1109/tase.2025.3624751","title":"Asymptotic Tracking Control for <i>n</i> -Link Flexible-Joint Robots Under State Constraints and Disturbances: Design and Experiment","display_name":"Asymptotic Tracking Control for <i>n</i> -Link Flexible-Joint Robots Under State Constraints and Disturbances: Design and Experiment","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415482073","doi":"https://doi.org/10.1109/tase.2025.3624751"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3624751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3624751","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/A5111915901","display_name":"Nan Jiang","orcid":"https://orcid.org/0009-0000-4161-4939"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Nan Jiang","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015948239","display_name":"Zhongcai Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongcai Zhang","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101796449","display_name":"Yang Gao","orcid":"https://orcid.org/0009-0004-4643-4960"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028861437","display_name":"Weiwei Sun","orcid":"https://orcid.org/0000-0002-5921-7293"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Sun","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034829291","display_name":"Yuqiang Wu","orcid":"https://orcid.org/0000-0003-0775-6743"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang Wu","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111915901"],"corresponding_institution_ids":["https://openalex.org/I202126657"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38305652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"22912","last_page":"22924"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9914000034332275,"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":0.9914000034332275,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9779000282287598,"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":0.9617000222206116,"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":0.8385999798774719},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.553600013256073},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5351999998092651},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.5254999995231628},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4855000078678131},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4706999957561493},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4336000084877014},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4293999969959259},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4293999969959259},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4246000051498413}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8385999798774719},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.553600013256073},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5351999998092651},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.5254999995231628},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4855000078678131},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4706999957561493},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4336000084877014},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4293999969959259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4293999969959259},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4246000051498413},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4219000041484833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4059999883174896},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3596000075340271},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.34380000829696655},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33820000290870667},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.2840000092983246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27239999175071716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27149999141693115},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C91873725","wikidata":"https://www.wikidata.org/wiki/Q3445816","display_name":"Function approximation","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C145242015","wikidata":"https://www.wikidata.org/wiki/Q774123","display_name":"Approximation theory","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3624751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3624751","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/G146271687","display_name":null,"funder_award_id":"62173207","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7208599166","display_name":null,"funder_award_id":"62173207, 62473228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7475946410","display_name":null,"funder_award_id":"62473228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7825239856","display_name":null,"funder_award_id":"tsqn202408171","funder_id":"https://openalex.org/F4320326189","funder_display_name":"Taishan Scholar Project of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326189","display_name":"Taishan Scholar Project of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W2000062325","https://openalex.org/W2020362991","https://openalex.org/W2020793406","https://openalex.org/W2024559703","https://openalex.org/W2028655574","https://openalex.org/W2050229045","https://openalex.org/W2050918738","https://openalex.org/W2062373349","https://openalex.org/W2078622028","https://openalex.org/W2095189694","https://openalex.org/W2102057409","https://openalex.org/W2107122393","https://openalex.org/W2137398845","https://openalex.org/W2138220633","https://openalex.org/W2145887311","https://openalex.org/W2154649903","https://openalex.org/W2167808181","https://openalex.org/W2168097327","https://openalex.org/W2168397056","https://openalex.org/W2170346869","https://openalex.org/W2188422583","https://openalex.org/W2193245008","https://openalex.org/W2805998202","https://openalex.org/W2895632869","https://openalex.org/W2895869031","https://openalex.org/W2925658806","https://openalex.org/W2963659670","https://openalex.org/W2973021624","https://openalex.org/W2975408797","https://openalex.org/W2999684463","https://openalex.org/W3016817880","https://openalex.org/W3092068513","https://openalex.org/W3115481033","https://openalex.org/W3198710631","https://openalex.org/W3200118614","https://openalex.org/W4220894800","https://openalex.org/W4233649854","https://openalex.org/W4281806258","https://openalex.org/W4283218178","https://openalex.org/W4295898027","https://openalex.org/W4313423377","https://openalex.org/W4322706744","https://openalex.org/W4322763609","https://openalex.org/W4360897412","https://openalex.org/W4362654536","https://openalex.org/W4384788082","https://openalex.org/W4385185257","https://openalex.org/W4386736712","https://openalex.org/W4390075398","https://openalex.org/W4390812995","https://openalex.org/W4392908473","https://openalex.org/W4396674164","https://openalex.org/W4400726499","https://openalex.org/W4400877114"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,9,46,78],"asymptotic":[4],"tracking":[5,69,111,118],"control":[6,134],"strategy":[7],"for":[8,62],"n-link":[10],"flexible-joint":[11],"(FJ)":[12],"robotic":[13],"system":[14,25,31,44],"subject":[15],"to":[16,40,57,82,108,122],"full-state":[17],"constraints":[18],"and":[19,60,93,105,140],"external":[20],"disturbances.":[21,64],"First,":[22],"the":[23,42,84,88,94,102,110,113,117,126,132],"original":[24],"is":[26,38,55,75,136],"transformed":[27],"into":[28,45],"a":[29,34,50,66,72,144],"chained":[30],"structure,":[32],"then":[33],"state-dependent":[35],"function":[36],"(SDF)":[37],"applied":[39],"convert":[41],"constrained":[43],"unconstrained":[47],"one.":[48],"Subsequently,":[49],"novel":[51],"disturbance":[52],"observer":[53],"(DO)":[54],"constructed":[56],"asymptotically":[58,120],"estimate":[59],"compensate":[61],"unknown":[63],"Concurrently,":[65],"neural":[67],"adaptive":[68,79],"controller":[70],"incorporating":[71],"first-order":[73],"filter":[74],"designed,":[76],"with":[77,101],"law":[80],"utilized":[81],"approximate":[83],"maximum":[85],"value":[86],"between":[87],"norm":[89],"of":[90,97,131],"weight":[91],"vector":[92],"upper":[95],"bound":[96],"approximation":[98],"error.":[99],"Compared":[100],"existing":[103],"DOs":[104],"backstepping-based":[106],"methods":[107],"realize":[109],"control,":[112],"developed":[114],"method":[115],"guarantees":[116],"error":[119],"converges":[121],"zero":[123],"without":[124],"violating":[125],"predefined":[127],"constraints.":[128],"The":[129],"efficacy":[130],"proposed":[133],"algorithm":[135],"validated":[137],"through":[138],"simulation":[139],"experimental":[141],"studies":[142],"on":[143],"two-link":[145],"manipulator":[146],"system.":[147]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-23T00:00:00"}