{"id":"https://openalex.org/W2895632869","doi":"https://doi.org/10.1109/tsmc.2018.2870642","title":"Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints","display_name":"Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints","publication_year":2018,"publication_date":"2018-10-04","ids":{"openalex":"https://openalex.org/W2895632869","doi":"https://doi.org/10.1109/tsmc.2018.2870642","mag":"2895632869"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2018.2870642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2870642","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5003568409","display_name":"Wei Sun","orcid":"https://orcid.org/0000-0002-6873-3302"},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Sun","raw_affiliation_strings":["School of Mathematics Science, Liaocheng University, Liaocheng, China"],"raw_orcid":"https://orcid.org/0000-0002-6873-3302","affiliations":[{"raw_affiliation_string":"School of Mathematics Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035915560","display_name":"Shun\u2010Feng Su","orcid":"https://orcid.org/0000-0001-9777-128X"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shun-Feng Su","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9777-128X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007027701","display_name":"Jianwei Xia","orcid":"https://orcid.org/0000-0002-5330-9349"},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Xia","raw_affiliation_strings":["School of Mathematics Science, Liaocheng University, Liaocheng, China"],"raw_orcid":"https://orcid.org/0000-0002-5330-9349","affiliations":[{"raw_affiliation_string":"School of Mathematics Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052113946","display_name":"Van\u2010Truong Nguyen","orcid":"https://orcid.org/0000-0001-6464-2115"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Van-Truong Nguyen","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-6464-2115","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.8393,"has_fulltext":false,"cited_by_count":216,"citation_normalized_percentile":{"value":0.99417733,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"49","issue":"11","first_page":"2201","last_page":"2209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955999851226807,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9936000108718872,"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/backstepping","display_name":"Backstepping","score":0.8251994848251343},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.788956880569458},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6315652132034302},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6311037540435791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5958671569824219},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5634551048278809},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49948668479919434},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4864880442619324},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4802175462245941},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.46732866764068604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46672216057777405},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4430605173110962},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.44123515486717224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4253651201725006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2053612470626831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17667266726493835},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.059038370847702026}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8251994848251343},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.788956880569458},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6315652132034302},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6311037540435791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5958671569824219},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5634551048278809},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49948668479919434},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4864880442619324},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4802175462245941},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.46732866764068604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46672216057777405},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4430605173110962},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.44123515486717224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4253651201725006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2053612470626831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17667266726493835},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.059038370847702026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/tsmc.2018.2870642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2870642","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6700000166893005,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1528213961","display_name":null,"funder_award_id":"61573177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5996939157","display_name":null,"funder_award_id":"61603170","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7101750979","display_name":"Intelligent Computation on Symbolic Data Analysis\u2013Trends Identification and Classification Technologies Analysis","funder_award_id":"NSC101-2221-E011-077-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1054396882","https://openalex.org/W1666238337","https://openalex.org/W1974887192","https://openalex.org/W1979654777","https://openalex.org/W1984831821","https://openalex.org/W1986024064","https://openalex.org/W2005001458","https://openalex.org/W2006676176","https://openalex.org/W2012716413","https://openalex.org/W2019538835","https://openalex.org/W2028153280","https://openalex.org/W2049933349","https://openalex.org/W2054714783","https://openalex.org/W2057491769","https://openalex.org/W2065905935","https://openalex.org/W2101036899","https://openalex.org/W2104250594","https://openalex.org/W2123035336","https://openalex.org/W2145438028","https://openalex.org/W2157110801","https://openalex.org/W2158546495","https://openalex.org/W2171574462","https://openalex.org/W2188422583","https://openalex.org/W2293923498","https://openalex.org/W2306204307","https://openalex.org/W2343238003","https://openalex.org/W2344562701","https://openalex.org/W2487171333","https://openalex.org/W2522467183","https://openalex.org/W2523356919","https://openalex.org/W2556852084","https://openalex.org/W2563423315","https://openalex.org/W2593843552","https://openalex.org/W2601030518","https://openalex.org/W2606135340","https://openalex.org/W2612492575","https://openalex.org/W2616685524","https://openalex.org/W2733294185","https://openalex.org/W2746297359","https://openalex.org/W2746361429","https://openalex.org/W2765910425","https://openalex.org/W2769454729","https://openalex.org/W2811385079","https://openalex.org/W2883820131","https://openalex.org/W4233649854"],"related_works":["https://openalex.org/W1847613412","https://openalex.org/W4387960131","https://openalex.org/W4382203996","https://openalex.org/W3201063403","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161","https://openalex.org/W2115512691"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"our":[3],"study":[4],"on":[5,99],"adaptive":[6,69],"fuzzy":[7,21,70],"tracking":[8,85],"control":[9,19,71,121],"for":[10],"flexible-joint":[11],"robots":[12],"with":[13,47,68],"full":[14],"state":[15,48,54],"constraints.":[16],"In":[17],"the":[18,27,56,63,83,94,97,100,116,119],"design,":[20],"systems":[22],"are":[23,43,112],"adopted":[24],"to":[25,45,80,88,114],"identify":[26],"totally":[28],"unknown":[29],"nonlinear":[30],"functions":[31,42],"and":[32],"can":[33],"properly":[34],"avoid":[35],"burdensome":[36],"computations.":[37],"The":[38],"tan-type":[39],"barrier":[40],"Lyapunov":[41],"used":[44],"deal":[46],"constraints":[49,98],"so":[50],"that":[51,82],"even":[52],"without":[53],"constraints,":[55],"controller":[57,76],"is":[58,77],"still":[59],"valid.":[60],"By":[61],"combining":[62],"method":[64],"of":[65,93,118],"backstepping":[66],"design":[67],"approaches,":[72],"a":[73,89],"novel":[74],"simpler":[75],"successfully":[78],"constructed":[79],"ensure":[81],"output":[84],"errors":[86],"converge":[87],"sufficiently":[90],"small":[91],"neighborhood":[92],"origin,":[95],"while":[96],"system":[101],"states":[102],"will":[103],"not":[104],"be":[105],"violated":[106],"during":[107],"operation.":[108],"Finally,":[109],"comparison":[110],"simulations":[111],"presented":[113],"demonstrate":[115],"effectiveness":[117],"proposed":[120],"schemes.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":39},{"year":2019,"cited_by_count":28}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}