{"id":"https://openalex.org/W4388505150","doi":"https://doi.org/10.1109/tsmc.2023.3324761","title":"Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements","display_name":"Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements","publication_year":2023,"publication_date":"2023-11-08","ids":{"openalex":"https://openalex.org/W4388505150","doi":"https://doi.org/10.1109/tsmc.2023.3324761"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3324761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3324761","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/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":["School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, and the Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-1189-3364","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, and the Engineering Research Center of Intelligent Unmanned System, Ministry of Education, 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":"last","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":["School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, and the Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-9781-9677","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, and the Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7434,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.95722725,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"54","issue":"2","first_page":"1263","last_page":"1275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9925000071525574,"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":0.9925000071525574,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9908999800682068,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9674999713897705,"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":0.96751868724823},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8341744542121887},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6288720369338989},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6191672682762146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5893916487693787},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5729666352272034},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4871899485588074},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.476485937833786},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4474753737449646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27529484033584595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2604418396949768},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.23714002966880798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2136768102645874},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1056341826915741},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05233585834503174}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.96751868724823},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8341744542121887},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6288720369338989},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6191672682762146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5893916487693787},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5729666352272034},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4871899485588074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.476485937833786},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4474753737449646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27529484033584595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2604418396949768},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.23714002966880798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2136768102645874},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1056341826915741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05233585834503174},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"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/tsmc.2023.3324761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3324761","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":[],"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/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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1999558720","https://openalex.org/W2078046250","https://openalex.org/W2132411721","https://openalex.org/W2168097327","https://openalex.org/W2170346869","https://openalex.org/W2230652337","https://openalex.org/W2496855363","https://openalex.org/W2604696689","https://openalex.org/W2623634636","https://openalex.org/W2781895760","https://openalex.org/W2789351310","https://openalex.org/W2792251619","https://openalex.org/W2792882341","https://openalex.org/W2797280915","https://openalex.org/W2895632869","https://openalex.org/W2952391246","https://openalex.org/W2964222556","https://openalex.org/W2973021624","https://openalex.org/W2994874570","https://openalex.org/W2999358808","https://openalex.org/W2999813176","https://openalex.org/W3011049721","https://openalex.org/W3098732861","https://openalex.org/W3124521735","https://openalex.org/W3130132180","https://openalex.org/W3156506168","https://openalex.org/W3168682236","https://openalex.org/W3171816716","https://openalex.org/W3172001092","https://openalex.org/W3183931517","https://openalex.org/W3193356319","https://openalex.org/W3193905726","https://openalex.org/W3198110887","https://openalex.org/W4206624084","https://openalex.org/W4206719931","https://openalex.org/W4206787757","https://openalex.org/W4223988585","https://openalex.org/W4243385754","https://openalex.org/W4285287843","https://openalex.org/W4292684644","https://openalex.org/W4294311507","https://openalex.org/W4294891551","https://openalex.org/W4312961496","https://openalex.org/W4379531887","https://openalex.org/W4382365305","https://openalex.org/W4386025662"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W4387960131"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,65,73],"robust":[4,75],"finite-time":[5,46,66,84],"command-filtered":[6,67,76],"backstepping":[7,68,77],"control":[8],"strategy":[9],"for":[10,28,107],"flexible-joint":[11,36],"robotic":[12],"systems":[13],"with":[14,70,121],"only":[15],"position":[16],"measurements.":[17],"To":[18],"the":[19,29,35,82,88,95,108,113,116,122,127,129,132],"best":[20],"of":[21,87,115],"our":[22],"knowledge,":[23],"this":[24],"method":[25],"is":[26,79,91],"proposed":[27,117],"first":[30],"time":[31],"and":[32,57,60,101,131],"applied":[33],"to":[34,41,52],"robot":[37],"(FJR)":[38],"system":[39,55,90],"subject":[40],"matched/mismatched":[42],"disturbances.":[43,62],"Herein,":[44],"two":[45,71],"disturbance":[47],"observers":[48],"(FTDOs)":[49],"are":[50,104],"adopted":[51],"reconstruct":[53],"unmeasurable":[54],"states":[56],"total":[58],"matched":[59],"mismatched":[61],"By":[63],"combining":[64],"controller":[69,78],"FTDOs,":[72],"novel":[74],"presented.":[80],"Meanwhile,":[81],"practically":[83],"stability":[85],"analysis":[86],"closed-loop":[89],"rigorously":[92],"presented":[93],"by":[94],"Lyapunov":[96],"function.":[97],"Finally,":[98],"numerical":[99],"simulations":[100],"experimental":[102],"studies":[103],"carried":[105],"out":[106],"FJR,":[109],"whose":[110],"results":[111],"show":[112],"superiority":[114],"scheme":[118],"in":[119],"comparison":[120],"existing":[123],"approaches,":[124],"such":[125],"as":[126],"FTCFBC,":[128],"ADRC,":[130],"CSMC.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
