{"id":"https://openalex.org/W2623634636","doi":"https://doi.org/10.1109/tcst.2017.2695600","title":"Adaptive Command-Filtered Backstepping Control of Robot Arms With Compliant Actuators","display_name":"Adaptive Command-Filtered Backstepping Control of Robot Arms With Compliant Actuators","publication_year":2017,"publication_date":"2017-06-06","ids":{"openalex":"https://openalex.org/W2623634636","doi":"https://doi.org/10.1109/tcst.2017.2695600","mag":"2623634636"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2695600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2695600","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100630994","display_name":"Huiming Wang","orcid":"https://orcid.org/0000-0003-3109-0195"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiming Wang","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK","SG"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.7196,"has_fulltext":false,"cited_by_count":207,"citation_normalized_percentile":{"value":0.9868976,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"26","issue":"3","first_page":"1149","last_page":"1156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9909999966621399,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9897000193595886,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.9600816369056702},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7504804134368896},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7087628841400146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.544805645942688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5354801416397095},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5353029370307922},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5236625075340271},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4673704504966736},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4480420649051666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3681700825691223},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2006283402442932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14920300245285034},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06820955872535706},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06178152561187744}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9600816369056702},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7504804134368896},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7087628841400146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.544805645942688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5354801416397095},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5353029370307922},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5236625075340271},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4673704504966736},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4480420649051666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3681700825691223},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2006283402442932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14920300245285034},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06820955872535706},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06178152561187744},{"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/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/tcst.2017.2695600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2695600","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G3429343651","display_name":null,"funder_award_id":"R-397-000-218-112","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1559107966","https://openalex.org/W1972518516","https://openalex.org/W1975932735","https://openalex.org/W1983034357","https://openalex.org/W1993428686","https://openalex.org/W2009178724","https://openalex.org/W2011833550","https://openalex.org/W2019538835","https://openalex.org/W2028153280","https://openalex.org/W2033433965","https://openalex.org/W2040060055","https://openalex.org/W2068057382","https://openalex.org/W2078046250","https://openalex.org/W2091881639","https://openalex.org/W2095910574","https://openalex.org/W2105731406","https://openalex.org/W2116767351","https://openalex.org/W2117086981","https://openalex.org/W2131404784","https://openalex.org/W2137824246","https://openalex.org/W2140175846","https://openalex.org/W2141430972","https://openalex.org/W2142969850","https://openalex.org/W2143285050","https://openalex.org/W2152736457","https://openalex.org/W2157110801","https://openalex.org/W2160643425","https://openalex.org/W2169100281","https://openalex.org/W2172300700","https://openalex.org/W2175091750","https://openalex.org/W2193981449","https://openalex.org/W2207371011","https://openalex.org/W2293200354","https://openalex.org/W2309614570","https://openalex.org/W2344210503","https://openalex.org/W2566495809","https://openalex.org/W2573154714","https://openalex.org/W2590859527","https://openalex.org/W3166773655","https://openalex.org/W4233649854"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W1963225701","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"Compliant":[0],"actuators":[1],"are":[2],"significant":[3],"for":[4,52,93,104],"safe":[5],"physical":[6],"human-robot":[7],"interaction.":[8],"Series":[9],"elastic":[10],"actuator":[11],"(SEA)":[12],"is":[13,91,102,111],"the":[14,45,61,115,135,138],"most":[15],"popular":[16],"type":[17],"of":[18,76,137],"compliant":[19],"actuators,":[20],"which":[21],"possesses":[22],"several":[23],"attractive":[24],"features,":[25],"such":[26],"as":[27],"low":[28],"output":[29],"impedance,":[30],"back":[31],"drivability,":[32],"shock":[33],"tolerance,":[34],"smooth":[35],"force":[36],"transmission,":[37],"and":[38,68,118],"energy":[39],"efficiency.":[40],"This":[41],"brief":[42],"focuses":[43],"on":[44,124],"adaptive":[46,77,88,107],"command-filtered":[47],"backstepping":[48,66],"control":[49,67,140],"(CFBC)":[50],"design":[51],"robot":[53,94,128],"arms":[54,95],"driven":[55,96],"by":[56,97,105,114],"SEAs.":[57],"The":[58],"CFBC":[59,78,89],"alleviates":[60],"complexity":[62],"problem":[63],"in":[64],"integrator":[65],"has":[69],"attracted":[70],"great":[71],"attention.":[72],"However,":[73],"experimental":[74],"results":[75,122],"have":[79,130],"not":[80],"been":[81,131],"reported.":[82],"In":[83],"this":[84],"brief,":[85],"a":[86,125],"simplified":[87],"framework":[90],"developed":[92],"SEAs,":[98],"where":[99],"discontinuous":[100],"friction":[101],"compensated":[103],"an":[106],"mechanism.":[108],"Closed-loop":[109],"stability":[110],"rigorously":[112],"established":[113],"Lyapunov":[116],"synthesis":[117],"time-scales":[119],"separation.":[120],"Experimental":[121],"based":[123],"single-link":[126],"SEA-driven":[127],"arm":[129],"provided":[132],"to":[133],"verify":[134],"effectiveness":[136],"proposed":[139],"strategy.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":26},{"year":2020,"cited_by_count":32},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}