{"id":"https://openalex.org/W2969389620","doi":"https://doi.org/10.1109/tie.2019.2920604","title":"Unknown System Dynamics Estimator for Motion Control of Nonlinear Robotic Systems","display_name":"Unknown System Dynamics Estimator for Motion Control of Nonlinear Robotic Systems","publication_year":2019,"publication_date":"2019-06-07","ids":{"openalex":"https://openalex.org/W2969389620","doi":"https://doi.org/10.1109/tie.2019.2920604","mag":"2969389620"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2920604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2920604","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":true,"raw_author_name":"Jing Na","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071785646","display_name":"Baorui Jing","orcid":"https://orcid.org/0000-0001-9248-4177"},"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":"Baorui Jing","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060784234","display_name":"Yingbo Huang","orcid":"https://orcid.org/0000-0001-9390-2369"},"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":"Yingbo Huang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073017831","display_name":"Guanbin Gao","orcid":"https://orcid.org/0000-0001-6857-0315"},"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":"Guanbin Gao","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100606784","display_name":"Chao Zhang","orcid":"https://orcid.org/0000-0002-7378-3929"},"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":"Chao Zhang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008377523"],"corresponding_institution_ids":["https://openalex.org/I10660446"],"apc_list":null,"apc_paid":null,"fwci":10.2783,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.98674732,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"67","issue":"5","first_page":"3850","last_page":"3859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9972000122070312,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9952999949455261,"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":0.8584399223327637},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6720402240753174},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.655363142490387},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5830192565917969},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5215230584144592},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5203630328178406},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.49271515011787415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4434519112110138},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.42990028858184814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3445472717285156},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3051856756210327},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13923054933547974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13648435473442078}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8584399223327637},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6720402240753174},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.655363142490387},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5830192565917969},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5215230584144592},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5203630328178406},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49271515011787415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4434519112110138},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.42990028858184814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3445472717285156},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3051856756210327},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13923054933547974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13648435473442078},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2920604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2920604","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6458044528","display_name":null,"funder_award_id":"61573174","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7198406823","display_name":null,"funder_award_id":"61873115","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W21541875","https://openalex.org/W575905749","https://openalex.org/W1597554859","https://openalex.org/W1717588182","https://openalex.org/W1966221652","https://openalex.org/W1999636742","https://openalex.org/W2003302574","https://openalex.org/W2010699465","https://openalex.org/W2016667576","https://openalex.org/W2017382559","https://openalex.org/W2026676067","https://openalex.org/W2029700848","https://openalex.org/W2067863383","https://openalex.org/W2089684487","https://openalex.org/W2098646051","https://openalex.org/W2106677558","https://openalex.org/W2112265193","https://openalex.org/W2115368667","https://openalex.org/W2123285852","https://openalex.org/W2135493101","https://openalex.org/W2141076177","https://openalex.org/W2142428281","https://openalex.org/W2148070153","https://openalex.org/W2167808181","https://openalex.org/W2230652337","https://openalex.org/W2285705535","https://openalex.org/W2299003779","https://openalex.org/W2408472393","https://openalex.org/W2468673050","https://openalex.org/W2521872058","https://openalex.org/W2546832470","https://openalex.org/W2596784518","https://openalex.org/W2748648378","https://openalex.org/W2757619290","https://openalex.org/W2770970225","https://openalex.org/W2786046247","https://openalex.org/W2787504052","https://openalex.org/W2801870674","https://openalex.org/W2887685036","https://openalex.org/W2911432792","https://openalex.org/W2913466073","https://openalex.org/W6727595439"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W2791240990","https://openalex.org/W1486209696","https://openalex.org/W4230747644","https://openalex.org/W2113788199","https://openalex.org/W3147393590","https://openalex.org/W623567840","https://openalex.org/W2162848953"],"abstract_inverted_index":{"In":[0,54],"this":[1],"paper,":[2],"we":[3,120],"propose":[4],"an":[5],"alternative,":[6],"simple,":[7],"yet":[8],"efficient":[9],"estimation":[10,155],"method":[11],"to":[12,136],"handle":[13],"unknown":[14,26,47,68],"dynamics":[15,28,49],"and":[16,38,46,77,83,147,154,173],"external":[17,44,61],"disturbances":[18,45],"for":[19],"motion":[20,139],"control":[21,144],"of":[22,98,101,108,117,133,149,163],"robotic":[23,109],"systems.":[24],"An":[25],"system":[27,145],"estimator":[29,70],"(USDE)":[30],"is":[31,63,72,87,111,168],"first":[32],"proposed":[33,75,125,166],"by":[34,170],"introducing":[35],"filter":[36],"operations":[37],"simple":[39],"algebraic":[40],"calculations,":[41],"where":[42,58],"the":[43,55,60,91,99,102,115,124,131,151,161,164],"Coriolis/gravity":[48],"can":[50,79,127],"be":[51,80,128],"estimated":[52],"simultaneously.":[53],"specific":[56],"case":[57],"only":[59],"disturbance":[62,69,93],"unknown,":[64],"a":[65,177],"further":[66],"modified":[67],"(MUDE)":[71],"introduced.":[73],"These":[74],"USDE":[76],"MUDE":[78],"easily":[81],"implemented":[82],"their":[84],"parameter":[85],"tuning":[86],"straightforward":[88],"compared":[89],"with":[90],"nonlinear":[92],"observer":[94],"that":[95,123],"requires":[96],"calculation":[97],"inverse":[100],"inertia":[103],"matrix.":[104],"The":[105,142],"acceleration":[106],"signal":[107],"joints":[110],"not":[112],"used":[113],"in":[114],"design":[116,132],"estimators.":[118],"Moreover,":[119],"also":[121],"show":[122],"estimators":[126],"incorporated":[129],"into":[130],"composite":[134],"controllers":[135],"achieve":[137],"satisfactory":[138],"tracking":[140,152],"response.":[141],"closed-loop":[143],"stability":[146],"convergence":[148],"both":[150],"error":[153,156],"are":[157],"all":[158],"guaranteed.":[159],"Finally,":[160],"effectiveness":[162],"two":[165],"methods":[167],"validated":[169],"using":[171],"simulations":[172],"experiments":[174],"based":[175],"on":[176],"SCARA":[178],"robot":[179],"test-rig.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}