{"id":"https://openalex.org/W4225552282","doi":"https://doi.org/10.1109/tie.2022.3156037","title":"Fixed-Time Neural Control of Robot Manipulator With Global Stability and Guaranteed Transient Performance","display_name":"Fixed-Time Neural Control of Robot Manipulator With Global Stability and Guaranteed Transient Performance","publication_year":2022,"publication_date":"2022-03-09","ids":{"openalex":"https://openalex.org/W4225552282","doi":"https://doi.org/10.1109/tie.2022.3156037"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3156037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3156037","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/A5101818744","display_name":"Chengzhi Zhu","orcid":"https://orcid.org/0000-0002-4520-9348"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhi Zhu","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067854210","display_name":"Yiming Jiang","orcid":"https://orcid.org/0000-0001-5963-2932"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["National Engineering Research Center for Robot Visual Perception and Control, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-5963-2932","affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Robot Visual Perception and Control, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.9295,"has_fulltext":false,"cited_by_count":102,"citation_normalized_percentile":{"value":0.98911726,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"70","issue":"1","first_page":"803","last_page":"812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.7954378128051758},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6126747727394104},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5687849521636963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5628540515899658},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5621891617774963},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5578855276107788},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5436136722564697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5407225489616394},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5261568427085876},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4924060106277466},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4683536887168884},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.46035832166671753},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35790038108825684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2539699673652649},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2465057373046875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2396349012851715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2011701762676239},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10393425822257996}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7954378128051758},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6126747727394104},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5687849521636963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5628540515899658},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5621891617774963},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5578855276107788},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5436136722564697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5407225489616394},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5261568427085876},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4924060106277466},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4683536887168884},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.46035832166671753},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35790038108825684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2539699673652649},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2465057373046875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2396349012851715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2011701762676239},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10393425822257996},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":1,"locations":[{"id":"doi:10.1109/tie.2022.3156037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3156037","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":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1087713857","display_name":null,"funder_award_id":"2020B1515120054","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G1417851042","display_name":null,"funder_award_id":"62003136","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3939246514","display_name":null,"funder_award_id":"U20A20200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7872451203","display_name":null,"funder_award_id":"2019B1515120076","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1613039631","https://openalex.org/W1965693572","https://openalex.org/W1973578767","https://openalex.org/W1982214011","https://openalex.org/W2064666803","https://openalex.org/W2090108740","https://openalex.org/W2109151516","https://openalex.org/W2522261341","https://openalex.org/W2789972161","https://openalex.org/W2924889867","https://openalex.org/W2963113330","https://openalex.org/W2963248885","https://openalex.org/W2964299041","https://openalex.org/W2971047982","https://openalex.org/W2972090218","https://openalex.org/W2980139847","https://openalex.org/W2996469688","https://openalex.org/W3005346308","https://openalex.org/W3007792336","https://openalex.org/W3033144026","https://openalex.org/W3036906859","https://openalex.org/W3088899621","https://openalex.org/W3091683453","https://openalex.org/W3092446819","https://openalex.org/W3093638193","https://openalex.org/W3104471247","https://openalex.org/W3108879664","https://openalex.org/W3112745326","https://openalex.org/W3119338791","https://openalex.org/W3154951780","https://openalex.org/W3169677172","https://openalex.org/W3170988765","https://openalex.org/W3175912984","https://openalex.org/W3202175197"],"related_works":["https://openalex.org/W1550017747","https://openalex.org/W1505013685","https://openalex.org/W2048910719","https://openalex.org/W2394285654","https://openalex.org/W2907195160","https://openalex.org/W2142036661","https://openalex.org/W1604153366","https://openalex.org/W2794899516","https://openalex.org/W2172432712","https://openalex.org/W135341150"],"abstract_inverted_index":{"Nowadays,":[0],"due":[1],"to":[2,63,82,138],"many":[3],"limitations":[4],"in":[5,21,113],"reality,":[6],"the":[7,17,46,51,55,72,79,84,89,101,117,140,145],"optimization":[8],"of":[9,19,54,131,144],"tracking":[10],"precision":[11],"and":[12,71,88,119,134,142],"convergence":[13,91],"time":[14],"has":[15],"attracted":[16],"attention":[18],"researchers":[20],"robotics":[22],"community.":[23],"In":[24],"this":[25],"article,":[26],"a":[27,135],"fixed-time":[28,73,90,97],"adaptive":[29],"neural":[30],"network":[31],"(NN)":[32],"controller":[33,80],"is":[34,43],"proposed":[35,146],"for":[36],"unknown":[37,129],"robot":[38,133,137],"manipulators.":[39],"A":[40],"switching":[41],"mechanism":[42],"integrated":[44],"into":[45,78],"control":[47,58,74,99,147],"design":[48,81],"such":[49],"that":[50,103],"semiglobal":[52],"stability":[53],"conventional":[56],"NN":[57,98,104],"systems":[59],"can":[60,110],"be":[61,107,111],"extended":[62],"global":[64],"stability.":[65],"The":[66],"time-varying":[67],"barrier":[68],"Lyapunov":[69],"function":[70],"technique":[75],"are":[76,122],"incorporated":[77],"guarantee":[83],"prescribed":[85],"motion":[86],"constraints":[87],"simultaneously.":[92],"Compared":[93],"with":[94],"some":[95],"existing":[96],"algorithms,":[100],"assumption":[102],"weight":[105],"should":[106],"upper":[108],"bounded":[109],"relaxed":[112],"our":[114],"work.":[115],"Finally,":[116],"simulation":[118],"experiment":[120],"studies":[121],"respectively":[123],"carried":[124],"out":[125],"based":[126],"on":[127],"an":[128],"2-degree":[130],"freedom":[132],"Baxter":[136],"demonstrate":[139],"effectiveness":[141],"superiority":[143],"scheme.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}