{"id":"https://openalex.org/W3165214937","doi":"https://doi.org/10.1115/1.4050470","title":"A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators","display_name":"A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators","publication_year":2021,"publication_date":"2021-03-11","ids":{"openalex":"https://openalex.org/W3165214937","doi":"https://doi.org/10.1115/1.4050470","mag":"3165214937"},"language":"en","primary_location":{"id":"doi:10.1115/1.4050470","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4050470","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","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/A5054873019","display_name":"Bin Ren","orcid":"https://orcid.org/0000-0002-2551-4839"},"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":true,"raw_author_name":"Bin Ren","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009221235","display_name":"Yao Wang","orcid":"https://orcid.org/0000-0003-2948-5200"},"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":"Yao Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380042","display_name":"Jiayu Chen","orcid":"https://orcid.org/0000-0001-9396-0059"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiayu Chen","raw_affiliation_strings":["Department of Architecture and Civil Engineering, City University of Hong Kong, Hong Kong 999077, China","Department of Architecture and Civil Engineering, City University of Hong Kong Tat Chee Avenue, Kowloon, Hong Kong SAR Hong Kong, Hong Kong 999077 Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Architecture and Civil Engineering, City University of Hong Kong, Hong Kong 999077, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Architecture and Civil Engineering, City University of Hong Kong Tat Chee Avenue, Kowloon, Hong Kong SAR Hong Kong, Hong Kong 999077 Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101520310","display_name":"Silu Chen","orcid":"https://orcid.org/0000-0003-2548-7196"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Silu Chen","raw_affiliation_strings":["Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054873019"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":0.8327,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72093345,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"21","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9955000281333923,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.989799976348877,"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":0.8309593200683594},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6656016111373901},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6554818153381348},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5499252676963806},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5298554301261902},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5077663064002991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5037755370140076},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46595296263694763},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4526630640029907},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.45085588097572327},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4243495464324951},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.41971972584724426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3322463035583496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32592710852622986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29750004410743713},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2234784960746765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16453954577445984}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8309593200683594},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6656016111373901},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6554818153381348},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5499252676963806},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5298554301261902},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5077663064002991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037755370140076},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46595296263694763},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4526630640029907},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.45085588097572327},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4243495464324951},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.41971972584724426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3322463035583496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32592710852622986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29750004410743713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2234784960746765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16453954577445984},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1115/1.4050470","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4050470","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"},{"id":"pmh:oai:ir.nimte.ac.cn/:174433/21271","is_oa":false,"landing_page_url":"http://ir.nimte.ac.cn/handle/174433/21271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3957524022","display_name":null,"funder_award_id":"2018YFB1309200","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"},{"id":"https://openalex.org/G8618207070","display_name":null,"funder_award_id":"51775325","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/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1587019244","https://openalex.org/W1965017333","https://openalex.org/W1988367613","https://openalex.org/W1990851787","https://openalex.org/W2018918594","https://openalex.org/W2039500647","https://openalex.org/W2054307697","https://openalex.org/W2055930596","https://openalex.org/W2066222448","https://openalex.org/W2070438142","https://openalex.org/W2078736691","https://openalex.org/W2129518264","https://openalex.org/W2148070153","https://openalex.org/W2151566726","https://openalex.org/W2153790914","https://openalex.org/W2154757413","https://openalex.org/W2158121031","https://openalex.org/W2167808181","https://openalex.org/W2188422583","https://openalex.org/W2207371011","https://openalex.org/W2226448098","https://openalex.org/W2253274025","https://openalex.org/W2343067029","https://openalex.org/W2364918774","https://openalex.org/W2465809218","https://openalex.org/W2470897876","https://openalex.org/W2546578181","https://openalex.org/W2772768614","https://openalex.org/W2773443193","https://openalex.org/W2806423520","https://openalex.org/W2928198505","https://openalex.org/W2976436761","https://openalex.org/W2986993562","https://openalex.org/W4239764171"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W4251428025","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W4289867043","https://openalex.org/W20648474","https://openalex.org/W2334016120"],"abstract_inverted_index":{"Abstract":[0],"Robotic":[1],"manipulators":[2],"are":[3],"complex":[4],"and":[5,19,30,51,69],"dynamic":[6],"nonlinear":[7],"mechanical":[8],"systems":[9],"subject":[10],"to":[11,61,79],"numerous":[12],"uncertainties,":[13],"such":[14],"as":[15],"payload":[16],"variations,":[17],"frictions,":[18],"unmodeled":[20],"dynamics.":[21],"To":[22],"mitigate":[23],"the":[24,32,36,64,70,81,88,104,108],"uncertainty":[25,68],"caused":[26],"by":[27],"these":[28],"disturbances":[29],"minimize":[31],"tracking":[33,89],"errors":[34],"of":[35,107],"controllers,":[37],"this":[38],"study":[39],"proposed":[40,109],"a":[41,49,52,73,99],"finite":[42,95],"time":[43],"tracking-based":[44],"controller":[45],"(FTC)":[46],"that":[47,87],"embeds":[48],"(NDO)":[50],"second-order":[53],"sliding-mode":[54,77],"modifier":[55,78],"(SOSM).":[56],"The":[57,83],"NDO":[58],"was":[59],"incorporated":[60],"compensate":[62],"for":[63],"system\u2019s":[65],"global":[66],"bounded":[67],"SOSM":[71],"used":[72],"robust":[74],"nonsingular":[75],"terminal":[76],"stabilize":[80],"controller.":[82],"theoretical":[84],"analysis":[85],"showed":[86],"error":[90],"could":[91],"quickly":[92],"converge":[93],"in":[94],"time.":[96],"Simulation":[97],"on":[98],"typical":[100],"robotics":[101],"manipulator":[102],"demonstrated":[103],"practical":[105],"appeal":[106],"scheme.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
