{"id":"https://openalex.org/W1988876996","doi":"https://doi.org/10.1109/tie.2013.2240635","title":"Adaptive Prescribed Performance Motion Control of Servo Mechanisms with Friction Compensation","display_name":"Adaptive Prescribed Performance Motion Control of Servo Mechanisms with Friction Compensation","publication_year":2013,"publication_date":"2013-01-16","ids":{"openalex":"https://openalex.org/W1988876996","doi":"https://doi.org/10.1109/tie.2013.2240635","mag":"1988876996"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2013.2240635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2013.2240635","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5008377523","display_name":"Jing Na","orcid":"https://orcid.org/0000-0002-3067-1580"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Na","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","Fac. of Mech. & Electr. Eng., Kunming Univ. of Sci. & Technol., KunMing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Fac. of Mech. & Electr. Eng., Kunming Univ. of Sci. & Technol., KunMing, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071166741","display_name":"Qiang Chen","orcid":"https://orcid.org/0000-0001-5869-0436"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Chen","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","College of Information Engineering, Zhejiang University of Technology Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051695357","display_name":"Xuemei Ren","orcid":"https://orcid.org/0000-0002-7248-3318"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuemei Ren","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Beijing Institute of Technology, Beijing, CHINA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, CHINA","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073292294","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0002-0592-5323"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","Fac. of Mech. & Electr. Eng., Kunming Univ. of Sci. & Technol., KunMing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Fac. of Mech. & Electr. Eng., Kunming Univ. of Sci. & Technol., KunMing, China","institution_ids":["https://openalex.org/I10660446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":34.0476,"has_fulltext":false,"cited_by_count":517,"citation_normalized_percentile":{"value":0.99737495,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"61","issue":"1","first_page":"486","last_page":"494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991999864578247,"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/T13644","display_name":"Control Systems in Engineering","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8856872320175171},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5939667224884033},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5687956809997559},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5376749038696289},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5334069728851318},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5117428302764893},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.47291550040245056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47288981080055237},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44642823934555054},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4246358871459961},{"id":"https://openalex.org/keywords/steady-state","display_name":"Steady state (chemistry)","score":0.42068374156951904},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.41620099544525146},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.41074126958847046},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3578817546367645},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3077471852302551},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25310850143432617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13676851987838745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11857870221138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10444813966751099}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8856872320175171},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5939667224884033},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5687956809997559},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5376749038696289},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5334069728851318},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5117428302764893},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.47291550040245056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47288981080055237},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44642823934555054},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4246358871459961},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.42068374156951904},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.41620099544525146},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.41074126958847046},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3578817546367645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3077471852302551},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25310850143432617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13676851987838745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11857870221138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10444813966751099},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tie.2013.2240635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2013.2240635","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/150987d0-71b0-4784-8a1d-c59939e20ff7","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84880883039&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Na , J , Chen , Q , Ren , X &amp; Guo , Y 2014 , ' Adaptive prescribed performance motion control of servo mechanisms with friction compensation ' , IEEE Transactions on Industrial Electronics , vol. 61 , no. 1 , 6413221 , pp. 486-494 . https://doi.org/10.1109/TIE.2013.2240635","raw_type":"article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/150987d0-71b0-4784-8a1d-c59939e20ff7","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/150987d0-71b0-4784-8a1d-c59939e20ff7","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Na, J, Chen, Q, Ren, X & Guo, Y 2014, 'Adaptive prescribed performance motion control of servo mechanisms with friction compensation', IEEE Transactions on Industrial Electronics, vol. 61, no. 1, 6413221, pp. 486-494. https://doi.org/10.1109/TIE.2013.2240635","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/150987d0-71b0-4784-8a1d-c59939e20ff7","is_oa":false,"landing_page_url":"https://hdl.handle.net/1983/150987d0-71b0-4784-8a1d-c59939e20ff7","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Na, J, Chen, Q, Ren, X & Guo, Y 2014, 'Adaptive prescribed performance motion control of servo mechanisms with friction compensation', IEEE Transactions on Industrial Electronics, vol. 61, no. 1, 6413221, pp. 486-494. https://doi.org/10.1109/TIE.2013.2240635","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W628626147","https://openalex.org/W1602498161","https://openalex.org/W1774324918","https://openalex.org/W1968461293","https://openalex.org/W1988469697","https://openalex.org/W2000548594","https://openalex.org/W2033612759","https://openalex.org/W2048506187","https://openalex.org/W2057059845","https://openalex.org/W2067603665","https://openalex.org/W2068793240","https://openalex.org/W2076597241","https://openalex.org/W2091881639","https://openalex.org/W2097121541","https://openalex.org/W2103936935","https://openalex.org/W2109378632","https://openalex.org/W2111566172","https://openalex.org/W2113101103","https://openalex.org/W2129518264","https://openalex.org/W2130658747","https://openalex.org/W2131137113","https://openalex.org/W2132751396","https://openalex.org/W2137320068","https://openalex.org/W2145890255","https://openalex.org/W2146014298","https://openalex.org/W2149327659","https://openalex.org/W2165691503","https://openalex.org/W2166271005","https://openalex.org/W2166321863","https://openalex.org/W2166394531"],"related_works":["https://openalex.org/W2326095929","https://openalex.org/W2080331776","https://openalex.org/W161603712","https://openalex.org/W2366884745","https://openalex.org/W2045478930","https://openalex.org/W4285284323","https://openalex.org/W2320805319","https://openalex.org/W1490629594","https://openalex.org/W2030384469","https://openalex.org/W1984747759"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4],"control":[5,49],"for":[6,32,68,72],"a":[7,55,87,106],"class":[8],"of":[9,50],"nonlinear":[10],"mechanisms":[11],"with":[12,54,85],"guaranteed":[13],"transient":[14],"and":[15,27,96,116],"steady-state":[16,28],"performance.":[17,58],"A":[18,59,80],"performance":[19],"function":[20],"characterizing":[21],"the":[22,33,40,47,51,69,100,114],"convergence":[23],"rate,":[24],"maximum":[25],"overshoot,":[26],"error":[29,35],"is":[30,43,64,90],"used":[31],"output":[34],"transformation,":[36],"such":[37],"that":[38],"stabilizing":[39],"transformed":[41],"system":[42,53,109],"sufficient":[44],"to":[45,66,92,97,112],"achieve":[46],"tracking":[48],"original":[52],"priori":[56],"prescribed":[57],"continuously":[60],"differentiable":[61],"friction":[62,70],"model":[63,75],"adopted":[65],"account":[67],"nonlinearities,":[71],"which":[73],"primary":[74],"parameters":[76],"are":[77,110],"online":[78],"updated.":[79],"novel":[81],"high-order":[82],"neural":[83],"network":[84],"only":[86],"scalar":[88],"weight":[89],"developed":[91],"approximate":[93],"unknown":[94],"nonlinearities":[95],"dramatically":[98],"diminish":[99],"computational":[101],"costs.":[102],"Comparative":[103],"experiments":[104],"on":[105],"turntable":[107],"servo":[108],"included":[111],"verify":[113],"reliability":[115],"effectiveness.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":45},{"year":2023,"cited_by_count":38},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":57},{"year":2020,"cited_by_count":54},{"year":2019,"cited_by_count":54},{"year":2018,"cited_by_count":71},{"year":2017,"cited_by_count":59},{"year":2016,"cited_by_count":32},{"year":2015,"cited_by_count":24},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
