{"id":"https://openalex.org/W4402401296","doi":"https://doi.org/10.1109/tcyb.2024.3449632","title":"Control of Uncertain High-Order Fully Actuated Strict-Feedback Systems: A Backstepping Approach With High-Gain Observer-Based Derivative Approximation","display_name":"Control of Uncertain High-Order Fully Actuated Strict-Feedback Systems: A Backstepping Approach With High-Gain Observer-Based Derivative Approximation","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4402401296","doi":"https://doi.org/10.1109/tcyb.2024.3449632","pmid":"https://pubmed.ncbi.nlm.nih.gov/39255090"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2024.3449632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3449632","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5100661804","display_name":"Weizhen Liu","orcid":"https://orcid.org/0000-0003-0931-3807"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weizhen Liu","raw_affiliation_strings":["Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-0931-3807","affiliations":[{"raw_affiliation_string":"Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066594772","display_name":"Guangren Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangren Duan","raw_affiliation_strings":["Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8169-2218","affiliations":[{"raw_affiliation_string":"Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101427733","display_name":"Mingzhe Hou","orcid":"https://orcid.org/0000-0003-2480-3345"},"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":"Mingzhe Hou","raw_affiliation_strings":["Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2480-3345","affiliations":[{"raw_affiliation_string":"Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070883195","display_name":"Mehdi Golestani","orcid":"https://orcid.org/0000-0001-5331-2524"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mehdi Golestani","raw_affiliation_strings":["Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5331-2524","affiliations":[{"raw_affiliation_string":"Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032411105","display_name":"He Kong","orcid":"https://orcid.org/0000-0002-1382-4186"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Kong","raw_affiliation_strings":["Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1382-4186","affiliations":[{"raw_affiliation_string":"Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2022,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.97751387,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"54","issue":"12","first_page":"7456","last_page":"7468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9121999740600586,"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":0.9121999740600586,"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":0.8692607879638672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8397578597068787},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6754857897758484},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5359843969345093},{"id":"https://openalex.org/keywords/derivative","display_name":"Derivative (finance)","score":0.5342748761177063},{"id":"https://openalex.org/keywords/high-gain-antenna","display_name":"High-gain antenna","score":0.5190027952194214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5184828639030457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4810388386249542},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4444606900215149},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43938177824020386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22999176383018494},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19778817892074585},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.11277544498443604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09585461020469666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08277091383934021}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8692607879638672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8397578597068787},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6754857897758484},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5359843969345093},{"id":"https://openalex.org/C111771559","wikidata":"https://www.wikidata.org/wiki/Q66295","display_name":"Derivative (finance)","level":2,"score":0.5342748761177063},{"id":"https://openalex.org/C61829901","wikidata":"https://www.wikidata.org/wiki/Q769152","display_name":"High-gain antenna","level":2,"score":0.5190027952194214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5184828639030457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4810388386249542},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4444606900215149},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43938177824020386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22999176383018494},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19778817892074585},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.11277544498443604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09585461020469666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08277091383934021},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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":2,"locations":[{"id":"doi:10.1109/tcyb.2024.3449632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3449632","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:39255090","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39255090","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4303970575","display_name":null,"funder_award_id":"62073096","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5353692250","display_name":null,"funder_award_id":"62403232","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6793129451","display_name":null,"funder_award_id":"62350055","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2035260170","https://openalex.org/W2074773410","https://openalex.org/W2504825688","https://openalex.org/W2944244565","https://openalex.org/W2945803057","https://openalex.org/W3002006094","https://openalex.org/W3009242497","https://openalex.org/W3049452499","https://openalex.org/W3051721578","https://openalex.org/W3092480669","https://openalex.org/W3110673584","https://openalex.org/W3110981458","https://openalex.org/W3164341681","https://openalex.org/W3169974090","https://openalex.org/W3205519146","https://openalex.org/W4220968521","https://openalex.org/W4224313595","https://openalex.org/W4225921594","https://openalex.org/W4293586554","https://openalex.org/W4297964883","https://openalex.org/W4306399340","https://openalex.org/W4308934144","https://openalex.org/W4312277249","https://openalex.org/W4312690781","https://openalex.org/W4313886272","https://openalex.org/W4316661061","https://openalex.org/W4320205631","https://openalex.org/W4321608026","https://openalex.org/W4322756295","https://openalex.org/W4323869169","https://openalex.org/W4379409316","https://openalex.org/W4382998729","https://openalex.org/W4385420257","https://openalex.org/W4387609108","https://openalex.org/W4388052949","https://openalex.org/W4388125278","https://openalex.org/W4397030500","https://openalex.org/W4399336252","https://openalex.org/W4399511365","https://openalex.org/W4400976608"],"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/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W2567073787","https://openalex.org/W4388820512"],"abstract_inverted_index":{"In":[0],"this":[1,58],"article,":[2],"a":[3,53,74,161,165],"high-gain":[4],"observer":[5,79,111],"(HGO)-based":[6],"differentiator":[7],"is":[8,98,157],"proposed":[9,59,86,155],"to":[10,18,51,91,107,114,164],"approximate":[11],"the":[12,15,20,28,39,67,78,85,100,104,110,122,125,133,139,149,154],"derivatives":[13,105],"of":[14,22,56,84,96,103,124,153],"virtual":[16],"control":[17,48],"ease":[19,95],"\"explosion":[21],"complexity\"":[23],"problem":[24],"in":[25,89],"backstepping":[26,43,62,136],"for":[27],"second-order":[29],"strict-feedback":[30,35],"systems":[31,36],"(SOSFSs)":[32],"and":[33,94],"high-order":[34,41,60,135],"(HOSFSs).":[37],"Unlike":[38],"existing":[40],"command-filtered":[42],"or":[44],"extended":[45],"dynamic":[46],"surface":[47],"that":[49,99,121],"needs":[50],"tune":[52],"large":[54],"number":[55],"parameters,":[57],"HGO-based":[61],"(HOHGOB)":[63],"scheme":[64,156],"can":[65,143],"improve":[66],"derivative":[68],"approximation":[69],"performance":[70],"by":[71,148],"only":[72],"tuning":[73],"single":[75],"parameter,":[76],"i.e.,":[77],"gain.":[80],"A":[81],"further":[82],"advantage":[83],"HOHGOB":[87],"scheme,":[88],"addition":[90],"its":[92],"simplicity":[93],"implementation,":[97],"estimation":[101],"error":[102,142],"shrinks":[106],"zero":[108],"as":[109],"gain":[112],"grows":[113],"infinity.":[115],"We":[116],"have":[117],"also":[118],"rigorously":[119],"established":[120],"states":[123],"closed-loop":[126],"system":[127],"achieve":[128],"uniform":[129],"ultimate":[130],"boundedness":[131],"under":[132],"designed":[134],"controller.":[137],"Additionally,":[138],"output":[140],"tracking":[141],"be":[144],"made":[145],"arbitrarily":[146],"small":[147],"designer.":[150],"The":[151],"efficacy":[152],"numerically":[158],"validated":[159],"through":[160],"benchmark":[162],"application":[163],"single-link":[166],"robot":[167],"arm.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}