{"id":"https://openalex.org/W4415445269","doi":"https://doi.org/10.1109/tie.2025.3607981","title":"Identification and Compensation for Nonlinear Friction of Integrated Spherical Joint Based on Hippopotamus Optimization Algorithm","display_name":"Identification and Compensation for Nonlinear Friction of Integrated Spherical Joint Based on Hippopotamus Optimization Algorithm","publication_year":2025,"publication_date":"2025-10-22","ids":{"openalex":"https://openalex.org/W4415445269","doi":"https://doi.org/10.1109/tie.2025.3607981"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3607981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3607981","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":null,"display_name":"Shen\u2019ao Li","orcid":"https://orcid.org/0009-0003-7120-7754"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shen\u2019ao Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0003-7120-7754","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073330666","display_name":"Qunjing Wang","orcid":"https://orcid.org/0000-0002-1916-8116"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qunjing Wang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-1916-8116","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069799957","display_name":"Yan Wen","orcid":"https://orcid.org/0000-0002-0595-1687"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wen","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-0595-1687","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342656","display_name":"Qian Zhang","orcid":"https://orcid.org/0000-0001-8520-5854"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Zhang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-8520-5854","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651819","display_name":"Guoli Li","orcid":"https://orcid.org/0000-0003-3592-5305"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoli Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-3592-5305","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053015192","display_name":"Qiubo Ye","orcid":"https://orcid.org/0000-0003-2659-2377"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiubo Ye","raw_affiliation_strings":["College of Information Science and Engineering, Hohai University, Changzhou, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0003-2659-2377","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Hohai University, Changzhou, Jiangsu, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29267212,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"2","first_page":"2864","last_page":"2875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12581","display_name":"Engineering Structural Analysis Methods","score":0.8812999725341797,"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/T12581","display_name":"Engineering Structural Analysis Methods","score":0.8812999725341797,"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"}},{"id":"https://openalex.org/T14158","display_name":"Optical Systems and Laser Technology","score":0.8500000238418579,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11138","display_name":"Tribology and Lubrication Engineering","score":0.8478999733924866,"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":0.7458999752998352},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6898000240325928},{"id":"https://openalex.org/keywords/dynamical-friction","display_name":"Dynamical friction","score":0.5805000066757202},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4943000078201294},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.46299999952316284},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.44530001282691956},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.4090000092983246},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.35030001401901245},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.3431999981403351}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7458999752998352},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6898000240325928},{"id":"https://openalex.org/C3038340","wikidata":"https://www.wikidata.org/wiki/Q1268968","display_name":"Dynamical friction","level":2,"score":0.5805000066757202},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4943000078201294},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.46299999952316284},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.44530001282691956},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.4090000092983246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37779998779296875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3765999972820282},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.35030001401901245},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C2779899501","wikidata":"https://www.wikidata.org/wiki/Q629680","display_name":"Hippopotamus","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.3091000020503998},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.30000001192092896},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27239999175071716},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.26330000162124634}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3607981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3607981","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/G2303312166","display_name":null,"funder_award_id":"52077001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4593059874","display_name":null,"funder_award_id":"U23A20647","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5705016886","display_name":null,"funder_award_id":"2308085QE182","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2016114852","https://openalex.org/W2046974596","https://openalex.org/W2088129700","https://openalex.org/W2138537392","https://openalex.org/W2166271005","https://openalex.org/W2764052109","https://openalex.org/W2788363616","https://openalex.org/W2909953761","https://openalex.org/W2999099048","https://openalex.org/W3090608563","https://openalex.org/W3118593698","https://openalex.org/W3181235708","https://openalex.org/W3191153382","https://openalex.org/W4294310841","https://openalex.org/W4362721157","https://openalex.org/W4365420472","https://openalex.org/W4379385037","https://openalex.org/W4388298817","https://openalex.org/W4390637149","https://openalex.org/W4391305509","https://openalex.org/W4392298212","https://openalex.org/W4394897067","https://openalex.org/W4399322105","https://openalex.org/W4399861012"],"related_works":[],"abstract_inverted_index":{"The":[0,85,133],"integrated":[1],"spherical":[2],"joint":[3],"is":[4,88,128],"a":[5,42,79,109,121],"multi-DOF":[6],"motion":[7],"component":[8],"with":[9],"strong":[10],"potential":[11],"for":[12,90,114,130,164],"humanoid":[13],"robot":[14],"actuation.":[15],"However,":[16],"nonlinear":[17,96,145],"friction":[18,43,83,97,131,137],"at":[19],"low":[20],"velocities":[21],"leads":[22],"to":[23,54,63,93],"hysteresis":[24],"and":[25,36,103,140,147],"vibrations,":[26],"limiting":[27],"its":[28,91],"use":[29],"in":[30],"high-precision":[31,165],"applications":[32],"such":[33,99],"as":[34,100],"medical":[35],"rescue":[37],"tasks.":[38],"This":[39],"article":[40],"proposes":[41],"model":[44,87,138],"identification":[45],"method":[46,156],"based":[47],"on":[48],"the":[49,74,104,119,154],"hippopotamus":[50],"optimization":[51],"(HO)":[52],"algorithm":[53],"address":[55],"these":[56],"challenges.":[57],"Experimental":[58,150],"friction-velocity":[59],"data":[60],"are":[61,70],"used":[62],"identify":[64],"static":[65],"parameters,":[66],"while":[67,107],"dynamic":[68,82],"parameters":[69],"obtained":[71],"by":[72],"linearizing":[73],"motor\u2019s":[75],"presliding":[76],"region,":[77],"forming":[78],"complete":[80],"LuGre":[81,86],"model.":[84],"selected":[89],"ability":[92],"capture":[94],"key":[95],"behaviors":[98],"presliding,":[101],"hysteresis,":[102],"Stribeck":[105],"effect":[106],"maintaining":[108],"relatively":[110],"simple":[111],"structure":[112],"suitable":[113,163],"real-time":[115],"applications.":[116,166],"To":[117],"validate":[118],"model,":[120],"backstepping":[122],"adaptive":[123],"sliding":[124],"mode":[125],"control":[126],"(BASMC)":[127],"applied":[129],"compensation.":[132],"BASMC":[134],"adaptively":[135],"estimates":[136],"errors":[139],"disturbances,":[141],"effectively":[142],"reducing":[143],"low-speed":[144],"effects":[146],"enhancing":[148],"robustness.":[149],"results":[151],"confirm":[152],"that":[153],"proposed":[155],"significantly":[157],"improves":[158],"tracking":[159],"performance,":[160],"making":[161],"it":[162]},"counts_by_year":[],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-24T00:00:00"}
