{"id":"https://openalex.org/W4391128878","doi":"https://doi.org/10.1109/tie.2024.3352135","title":"Task-Oriented Adaptive Position/Force Control for Robotic Systems Under Hybrid Constraints","display_name":"Task-Oriented Adaptive Position/Force Control for Robotic Systems Under Hybrid Constraints","publication_year":2024,"publication_date":"2024-01-23","ids":{"openalex":"https://openalex.org/W4391128878","doi":"https://doi.org/10.1109/tie.2024.3352135"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3352135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3352135","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/A5003851571","display_name":"Shuai Ding","orcid":"https://orcid.org/0000-0002-4672-8780"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Ding","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4672-8780","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081142499","display_name":"Jinzhu Peng","orcid":"https://orcid.org/0000-0002-2823-6571"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinzhu Peng","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang, China"],"raw_orcid":"https://orcid.org/0000-0002-2823-6571","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042584819","display_name":"Jianbin Xin","orcid":"https://orcid.org/0000-0002-1024-4135"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbin Xin","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang, China"],"raw_orcid":"https://orcid.org/0000-0002-1024-4135","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323420","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1803-3148"},"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":"Hui Zhang","raw_affiliation_strings":["College of Robot, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1803-3148","affiliations":[{"raw_affiliation_string":"College of Robot, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"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"]},{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","College of Robot and College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"College of Robot and College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7966,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.90024478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"71","issue":"10","first_page":"12612","last_page":"12622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9781000018119812,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9781000018119812,"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-engineering","display_name":"Control engineering","score":0.6164188981056213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.583598792552948},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5757170915603638},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5138090252876282},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49407199025154114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4773578643798828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46789467334747314},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40379321575164795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3003626763820648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28431862592697144},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11818036437034607}],"concepts":[{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6164188981056213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.583598792552948},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5757170915603638},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5138090252876282},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49407199025154114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4773578643798828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46789467334747314},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40379321575164795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3003626763820648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28431862592697144},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11818036437034607},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3352135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3352135","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/G1028840406","display_name":null,"funder_award_id":"62173311","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4361916346","display_name":null,"funder_award_id":"62273311","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7745736485","display_name":null,"funder_award_id":"61971071","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":0,"referenced_works":[],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W2969358681","https://openalex.org/W2107122120","https://openalex.org/W2112559358","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"By":[0],"mapping":[1],"the":[2,5,9,14,18,32,37,40,44,52,56,70,79,86,89,99,110,117,130,137,146,157,160,171,176,179],"performances":[3],"of":[4,13,39,46,73,88,113,159,178],"task":[6,53,82,119],"requirement":[7],"and":[8,43,49,64,77,101,140,152],"inherent":[10],"physical":[11],"characteristics":[12],"robotic":[15,33,47,80,189],"systems":[16,34],"to":[17,35,75,115,128],"hybrid":[19],"constraints,":[20],"this":[21],"article":[22],"proposes":[23],"a":[24,59,104,122,187],"task-oriented":[25],"adaptive":[26,94,163],"position/force":[27,95,164],"control":[28,96,105,165],"(TOAPFC)":[29],"scheme":[30,97,166,181],"for":[31],"ensure":[36],"execution":[38],"predefined":[41],"tasks":[42],"safety":[45,87],"manipulators":[48],"humans":[50],"in":[51],"workspace.":[54],"In":[55],"proposed":[57,161,180],"scheme,":[58],"reference":[60],"trajectory":[61,83],"generation":[62],"strategy":[63],"admittance":[65],"model":[66],"are":[67,143],"regarded":[68],"as":[69,109],"outer":[71],"loop":[72,112],"TOAPFC":[74,114],"obtain":[76],"shape":[78],"system's":[81],"that":[84],"guarantees":[85],"interaction":[90],"system.":[91,190],"An":[92],"admittance-based":[93,162],"unifying":[98],"position":[100],"force":[102],"into":[103],"law":[106],"is":[107,126,167,182],"used":[108],"inner":[111],"track":[116],"shaped":[118],"trajectory,":[120],"where":[121],"barrier":[123],"Lyapunov":[124,172],"function":[125,149],"utilized":[127],"constrain":[129],"tracking":[131],"errors":[132],"within":[133],"permitted":[134],"ranges.":[135],"Moreover,":[136],"system":[138],"uncertainties":[139],"lumped":[141],"disturbances":[142],"compensated":[144],"by":[145,169,184],"radial":[147],"basis":[148],"neural":[150],"network":[151],"robust":[153],"compensator,":[154],"respectively.":[155],"Meanwhile,":[156],"stability":[158,173],"analyzed":[168],"using":[170],"theory.":[174],"Finally,":[175],"effectiveness":[177],"verified":[183],"experiments":[185],"on":[186],"real":[188]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}