{"id":"https://openalex.org/W4399572594","doi":"https://doi.org/10.1109/tie.2024.3398680","title":"Unknown System Dynamics Estimator-Based Composite Anti-Saturation Control Method for Series Elastic Actuators","display_name":"Unknown System Dynamics Estimator-Based Composite Anti-Saturation Control Method for Series Elastic Actuators","publication_year":2024,"publication_date":"2024-06-12","ids":{"openalex":"https://openalex.org/W4399572594","doi":"https://doi.org/10.1109/tie.2024.3398680"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3398680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3398680","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/A5067112140","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0002-1189-3364"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-1189-3364","affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087366165","display_name":"Fuxin Du","orcid":"https://orcid.org/0000-0001-9781-9677"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuxin Du","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-9781-9677","affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039423197","display_name":"Changwei Yin","orcid":"https://orcid.org/0009-0007-7641-7311"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwei Yin","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0007-7641-7311","affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041180540","display_name":"Menghua Zhang","orcid":"https://orcid.org/0000-0001-8588-3612"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Menghua Zhang","raw_affiliation_strings":["School of Electrical Engineering, University of Jinan, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-8588-3612","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408351","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0002-4353-3283"},"institutions":[{"id":"https://openalex.org/I4210099312","display_name":"Shandong Jiaotong University","ror":"https://ror.org/01848hk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Chen","raw_affiliation_strings":["School of Rail Transportation, Shandong Jiaotong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4353-3283","affiliations":[{"raw_affiliation_string":"School of Rail Transportation, Shandong Jiaotong University, Jinan, China","institution_ids":["https://openalex.org/I4210099312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5906-5074","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4119-4433","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.913,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90973483,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"71","issue":"12","first_page":"16625","last_page":"16634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.6402999758720398,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.6402999758720398,"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/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.5770999789237976,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7168018817901611},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6714236736297607},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6344939470291138},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5607239007949829},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5206947922706604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46568360924720764},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.4596386253833771},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3823873698711395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31612926721572876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2941933870315552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2815147638320923},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17502355575561523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16587135195732117},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14858859777450562},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1462080478668213},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.12666848301887512}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7168018817901611},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6714236736297607},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6344939470291138},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5607239007949829},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5206947922706604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46568360924720764},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.4596386253833771},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3823873698711395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31612926721572876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2941933870315552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2815147638320923},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17502355575561523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16587135195732117},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14858859777450562},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1462080478668213},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.12666848301887512},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3398680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3398680","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8399999737739563}],"awards":[{"id":"https://openalex.org/G4314168795","display_name":null,"funder_award_id":"U20A20283","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5884177251","display_name":null,"funder_award_id":"tsqn202312212","funder_id":"https://openalex.org/F4320326185","funder_display_name":"Taishan Scholar Foundation of Shandong Province"},{"id":"https://openalex.org/G7427526571","display_name":null,"funder_award_id":"2022CXGC010503","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"},{"id":"https://openalex.org/G8342967191","display_name":null,"funder_award_id":"62273163","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"},{"id":"https://openalex.org/F4320326185","display_name":"Taishan Scholar Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320333596","display_name":"Key Technology Research and Development Program of Shandong","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2010699465","https://openalex.org/W2106711397","https://openalex.org/W2526249805","https://openalex.org/W2599869952","https://openalex.org/W2738021937","https://openalex.org/W2783307626","https://openalex.org/W2789351310","https://openalex.org/W2888308857","https://openalex.org/W2944933349","https://openalex.org/W2969320466","https://openalex.org/W2969389620","https://openalex.org/W3004798880","https://openalex.org/W3156506168","https://openalex.org/W3158668667","https://openalex.org/W3198110887","https://openalex.org/W3216440402","https://openalex.org/W3217108202","https://openalex.org/W4205158884","https://openalex.org/W4225538555","https://openalex.org/W4285384269","https://openalex.org/W4296914541","https://openalex.org/W4304758337","https://openalex.org/W4312961496","https://openalex.org/W4313147837","https://openalex.org/W4320005412","https://openalex.org/W4360993987","https://openalex.org/W4382365305","https://openalex.org/W4382864702","https://openalex.org/W4385267622","https://openalex.org/W4386025662","https://openalex.org/W4388077077","https://openalex.org/W4388505150","https://openalex.org/W4392215304"],"related_works":["https://openalex.org/W4287880334","https://openalex.org/W4366700029","https://openalex.org/W4285230481","https://openalex.org/W4385769873","https://openalex.org/W4281634296","https://openalex.org/W4319161863","https://openalex.org/W2371687270","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,42,48,62,79,82,84,87,91,97,107,121,124,134,139],"torque":[4],"tracking":[5],"problem":[6],"of":[7,41,86,100,110,123,138],"series":[8],"elastic":[9],"actuators":[10],"(SEAs)":[11],"that":[12],"are":[13,129],"affected":[14],"by":[15],"nonlinear":[16,43],"uncertainty":[17,108],"and":[18,70,81,136],"actuator":[19],"saturation.":[20],"An":[21],"unknown":[22],"system":[23,89],"dynamics":[24],"estimator":[25],"(USDE),":[26],"which":[27],"has":[28,65],"only":[29],"one":[30],"parameter":[31],"to":[32,37,60,106,119,132],"be":[33],"turned,":[34],"is":[35,58,94,102,117],"designed":[36],"provide":[38],"an":[39,73],"estimation":[40,109],"uncertainty.":[44],"Then,":[45],"based":[46],"on":[47],"estimation,":[49],"a":[50,66],"composite":[51],"proportional-derivative":[52],"with":[53,78],"sliding-mode":[54],"control":[55,126,141],"(PD-SMC)":[56],"method":[57,93],"proposed":[59,92,140],"solve":[61],"problem.":[63],"It":[64],"simple":[67],"PD-like":[68],"structure":[69],"can":[71],"achieve":[72],"antisaturation":[74],"property.":[75],"In":[76],"addition,":[77],"USDE":[80],"SMC,":[83],"robustness":[85],"SEA":[88],"under":[90],"obtained,":[95],"while":[96],"chattering":[98],"phenomenon":[99],"SMC":[101],"greatly":[103],"attenuated":[104],"due":[105],"USDE.":[111],"The":[112],"Lyapunov":[113],"function-based":[114],"theoretical":[115],"analysis":[116],"present":[118],"demonstrate":[120],"stability":[122],"closed-loop":[125],"system.":[127],"Experiments":[128],"carried":[130],"out":[131],"verify":[133],"effectiveness":[135],"superiority":[137],"method.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}