{"id":"https://openalex.org/W7155167618","doi":"https://doi.org/10.1109/tsmc.2026.3684544","title":"Prescribed-Time Control for a Class of Underactuated Systems: A High-Order Fully Actuated System Approach","display_name":"Prescribed-Time Control for a Class of Underactuated Systems: A High-Order Fully Actuated System Approach","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155167618","doi":"https://doi.org/10.1109/tsmc.2026.3684544"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2026.3684544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3684544","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/A5061928110","display_name":"Xiaoshuang Zhou","orcid":"https://orcid.org/0009-0006-4036-8522"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoshuang Zhou","raw_affiliation_strings":["Yanshan University"],"raw_orcid":"https://orcid.org/0009-0006-4036-8522","affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022985654","display_name":"Yana Yang","orcid":"https://orcid.org/0000-0001-6006-8566"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yana Yang","raw_affiliation_strings":["Yanshan University"],"raw_orcid":"https://orcid.org/0000-0001-6006-8566","affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["Yanshan University"],"raw_orcid":"https://orcid.org/0000-0001-6311-2112","affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134300060","display_name":"Tengfei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengfei Zhang","raw_affiliation_strings":["Yanshan University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089193410","display_name":"J Li","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Li","raw_affiliation_strings":["Yanshan University"],"raw_orcid":"https://orcid.org/0000-0003-4028-2703","affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43981325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"8","first_page":"4549","last_page":"4560"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.4465999901294708,"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":0.4465999901294708,"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":0.18770000338554382,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.07259999960660934,"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/underactuation","display_name":"Underactuation","score":0.6693999767303467},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6327000260353088},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5360999703407288},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45899999141693115},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4131999909877777},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3228999972343445}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6693999767303467},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6327000260353088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5462999939918518},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5360999703407288},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45899999141693115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42649999260902405},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4131999909877777},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32120001316070557},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2026.3684544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3684544","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/G1390869486","display_name":null,"funder_award_id":"CXZZBS2025071","funder_id":"https://openalex.org/F4320336591","funder_display_name":"Hebei Province Graduate Innovation Funding Project"},{"id":"https://openalex.org/G2348163861","display_name":null,"funder_award_id":"F2025203121","funder_id":"https://openalex.org/F4320336591","funder_display_name":"Hebei Province Graduate Innovation Funding Project"},{"id":"https://openalex.org/G2421121643","display_name":null,"funder_award_id":"62473327","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3905614584","display_name":null,"funder_award_id":"F2024203114","funder_id":"https://openalex.org/F4320336591","funder_display_name":"Hebei Province Graduate Innovation Funding Project"},{"id":"https://openalex.org/G5036829915","display_name":null,"funder_award_id":"62373319","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5884246477","display_name":null,"funder_award_id":"F2024203114","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336591","display_name":"Hebei Province Graduate Innovation Funding Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W2118706662","https://openalex.org/W2508624963","https://openalex.org/W3091780002","https://openalex.org/W3092480669","https://openalex.org/W3099339691","https://openalex.org/W3110673584","https://openalex.org/W3110981458","https://openalex.org/W3126740933","https://openalex.org/W3129632638","https://openalex.org/W3216449291","https://openalex.org/W4225921594","https://openalex.org/W4285411563","https://openalex.org/W4289856822","https://openalex.org/W4312690781","https://openalex.org/W4313595790","https://openalex.org/W4320001283","https://openalex.org/W4321609144","https://openalex.org/W4360995283","https://openalex.org/W4361282449","https://openalex.org/W4362689485","https://openalex.org/W4367663492","https://openalex.org/W4379382280","https://openalex.org/W4382280954","https://openalex.org/W4386321967","https://openalex.org/W4386918904","https://openalex.org/W4387164660","https://openalex.org/W4388044067","https://openalex.org/W4388264808","https://openalex.org/W4388264893","https://openalex.org/W4390738469","https://openalex.org/W4391136674","https://openalex.org/W4391248806","https://openalex.org/W4391305728","https://openalex.org/W4391425115","https://openalex.org/W4393207138","https://openalex.org/W4394909995","https://openalex.org/W4394939087","https://openalex.org/W4399697750","https://openalex.org/W4402586236","https://openalex.org/W4402771412","https://openalex.org/W4404238055","https://openalex.org/W4405968100","https://openalex.org/W4406089814","https://openalex.org/W4406610544","https://openalex.org/W4409102176","https://openalex.org/W4410027381","https://openalex.org/W4410852554","https://openalex.org/W4414463125","https://openalex.org/W4416202176","https://openalex.org/W7133351047"],"related_works":[],"abstract_inverted_index":{"For":[0],"uncertain":[1],"link-type":[2],"underactuated":[3,48],"mechanical":[4],"systems":[5],"(LUMSs),":[6],"existing":[7],"fully":[8],"actuated":[9],"system":[10],"(FAS)-based":[11],"approaches":[12],"are":[13,23,50],"often":[14],"difficult":[15],"to":[16,82],"apply":[17],"because":[18],"the":[19,47,58,70,84,90,95,125,137,147,152],"required":[20],"structural":[21],"conditions":[22],"not":[24],"satisfied.":[25],"This":[26],"article":[27],"develops":[28],"an":[29,143],"adaptive":[30,109],"prescribed-time":[31,77,103,108,122],"controller":[32],"for":[33],"a":[34,65,75,107,115],"class":[35],"of":[36,97,124,136,151],"LUMSs":[37],"by":[38],"combining":[39],"FAS":[40,67],"theory":[41],"with":[42,101],"singular":[43],"perturbation":[44],"(SP).":[45],"First,":[46],"dynamics":[49],"decomposed":[51],"into":[52,64],"slow":[53,60,127],"and":[54,57,93,149],"fast":[55],"subsystems,":[56],"reduced":[59,126],"subsystem":[61],"is":[62,80,111],"transformed":[63],"lower-order":[66],"without":[68,113],"approximating":[69],"key":[71],"nonlinear":[72],"terms.":[73],"Second,":[74],"novel":[76],"gain":[78],"(NPTG)":[79],"incorporated":[81],"improve":[83],"early":[85],"transient":[86],"response":[87],"while":[88,129],"alleviating":[89],"sharp-braking":[91],"effect":[92],"reducing":[94],"risk":[96],"actuator":[98],"saturation":[99],"associated":[100],"conventional":[102],"gains.":[104],"In":[105],"addition,":[106],"law":[110],"introduced":[112],"requiring":[114],"priori":[116],"disturbance":[117],"bounds.":[118],"Lyapunov":[119],"analysis":[120],"establishes":[121],"convergence":[123],"subsystem,":[128],"standard":[130],"SP":[131],"arguments":[132],"justify":[133],"practical":[134],"regulation":[135],"full-order":[138],"closed-loop":[139],"system.":[140],"Experiments":[141],"on":[142],"overhead":[144],"crane":[145],"verify":[146],"effectiveness":[148],"robustness":[150],"proposed":[153],"method.":[154]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-23T00:00:00"}
