{"id":"https://openalex.org/W4416010670","doi":"https://doi.org/10.1109/tie.2025.3600515","title":"A Nonsmooth Dynamic Output Feedback Strategy for Nonlinear Systems With Nonparametric Uncertainties: Application to Robot Manipulators","display_name":"A Nonsmooth Dynamic Output Feedback Strategy for Nonlinear Systems With Nonparametric Uncertainties: Application to Robot Manipulators","publication_year":2025,"publication_date":"2025-11-07","ids":{"openalex":"https://openalex.org/W4416010670","doi":"https://doi.org/10.1109/tie.2025.3600515"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3600515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3600515","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/A5115444875","display_name":"Xin Dong","orcid":"https://orcid.org/0009-0001-4042-628X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Dong","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101726921","display_name":"Tao Xie","orcid":"https://orcid.org/0000-0001-7911-0517"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Xie","raw_affiliation_strings":["School of Electromechanical Engineering and Automation, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004990015","display_name":"Wentao Wu","orcid":"https://orcid.org/0000-0002-3740-598X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wentao Wu","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019419996","display_name":"Hongtian Chen","orcid":"https://orcid.org/0000-0002-8600-9668"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtian Chen","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100674152","display_name":"Chuanlin Zhang","orcid":"https://orcid.org/0000-0001-6052-1682"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanlin Zhang","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414775","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0002-4700-1276"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115444875"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4107466,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"3","first_page":"4610","last_page":"4621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.38199999928474426,"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/T11236","display_name":"Control Systems and Identification","score":0.38199999928474426,"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":0.1931000053882599,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.0560000017285347,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8258000016212463},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.73089998960495},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6337000131607056},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5169000029563904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44749999046325684},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43549999594688416},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43050000071525574},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.3986000120639801},{"id":"https://openalex.org/keywords/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.35499998927116394}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8258000016212463},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.73089998960495},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6337000131607056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.550599992275238},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5169000029563904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44749999046325684},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43549999594688416},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40869998931884766},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.3986000120639801},{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.33390000462532043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3253999948501587},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.325300008058548},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3231000006198883},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.3138999938964844},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30809998512268066},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29789999127388},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C63840607","wikidata":"https://www.wikidata.org/wiki/Q1236263","display_name":"Dead zone","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27090001106262207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26750001311302185},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3600515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3600515","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/G1586938274","display_name":null,"funder_award_id":"2022ZD0119900","funder_id":"https://openalex.org/F4320329860","funder_display_name":"National Science and Technology Major Project"},{"id":"https://openalex.org/G2260626412","display_name":null,"funder_award_id":"U24A20260","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2697279262","display_name":null,"funder_award_id":"62173221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2711504201","display_name":null,"funder_award_id":"62303305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5721963804","display_name":null,"funder_award_id":"U2141234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G708414365","display_name":null,"funder_award_id":"62388101","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/F4320329860","display_name":"National Science and Technology Major Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W375697608","https://openalex.org/W2017055129","https://openalex.org/W2046776280","https://openalex.org/W2075767141","https://openalex.org/W2076672705","https://openalex.org/W2085470933","https://openalex.org/W2086682715","https://openalex.org/W2134066066","https://openalex.org/W2136605942","https://openalex.org/W2141046429","https://openalex.org/W2144426941","https://openalex.org/W2154608673","https://openalex.org/W2161206111","https://openalex.org/W2167175335","https://openalex.org/W2168097327","https://openalex.org/W2342950627","https://openalex.org/W2420367108","https://openalex.org/W2560268301","https://openalex.org/W2780873835","https://openalex.org/W2803501907","https://openalex.org/W2971016349","https://openalex.org/W2985518658","https://openalex.org/W3088480418","https://openalex.org/W3126163468","https://openalex.org/W3135564303","https://openalex.org/W3156309155","https://openalex.org/W3204033150","https://openalex.org/W3214935681","https://openalex.org/W4285119123","https://openalex.org/W4391249165","https://openalex.org/W4393864283","https://openalex.org/W4401109008","https://openalex.org/W4406458807","https://openalex.org/W4406891769","https://openalex.org/W4407899947","https://openalex.org/W4409077038","https://openalex.org/W4410393978"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"a":[3,12,16,50,55,61,152],"nonsmooth":[4],"dynamic":[5,39,57],"output":[6],"feedback":[7],"stabilization":[8],"control":[9,47,89,111],"algorithm":[10,143],"in":[11,36,107,125],"nonrecursive":[13,32],"manner":[14],"for":[15,60],"general":[17],"class":[18],"of":[19,45,74,87,97,140],"nonlinear":[20],"systems":[21],"with":[22],"nonparametric":[23],"uncertainties.":[24],"As":[25],"opposed":[26],"to":[27,67,105,120,155],"recursive":[28],"design":[29,52],"approaches,":[30],"the":[31,37,42,46,71,77,83,88,94,98,108,118,126,131,141,156],"synthesis":[33],"philosophy":[34],"incorporated":[35],"proposed":[38,142],"stabilizer":[40],"yields":[41],"simplest":[43],"expression":[44],"scheme":[48],"via":[49],"one-step":[51],"framework.":[53],"Moreover,":[54],"delicate":[56],"updating":[58],"mechanism":[59,96],"scaling":[62,99],"gain":[63],"is":[64,102,113],"utilized,":[65],"aiming":[66],"estimate":[68],"and":[69,85,138,151],"dominate":[70],"lumped":[72],"impact":[73],"uncertainties":[75],"within":[76],"system.":[78,90,160],"Further,":[79],"it":[80,116],"can":[81],"balance":[82],"adaptiveness":[84],"robustness":[86],"By":[91],"this":[92],"means,":[93],"configuration":[95],"gain,":[100],"which":[101],"selected":[103],"according":[104],"experience":[106],"common":[109],"robust":[110,127],"strategies,":[112],"modified.":[114],"Besides,":[115],"has":[117],"potential":[119],"alleviate":[121],"possible":[122],"performance":[123],"deterioration":[124],"closed-loop":[128],"system":[129],"when":[130],"working":[132],"conditions":[133],"switch":[134],"frequently.":[135],"The":[136],"efficacy":[137],"simplicity":[139],"are":[144],"validated":[145],"by":[146],"an":[147],"illustrative":[148],"numerical":[149],"simulation":[150],"real-life":[153],"application":[154],"robot":[157],"manipulator":[158],"(RM)":[159]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-07T00:00:00"}
