{"id":"https://openalex.org/W2987478468","doi":"https://doi.org/10.1142/s0219843619500312","title":"Extended State Observer Fuzzy-Approximation-Based Active Disturbances Rejection Control Method for Humanoid Robot with Trajectory Tracking","display_name":"Extended State Observer Fuzzy-Approximation-Based Active Disturbances Rejection Control Method for Humanoid Robot with Trajectory Tracking","publication_year":2019,"publication_date":"2019-11-18","ids":{"openalex":"https://openalex.org/W2987478468","doi":"https://doi.org/10.1142/s0219843619500312","mag":"2987478468"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843619500312","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500312","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","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/A5077688826","display_name":"Keqiang Bai","orcid":"https://orcid.org/0000-0002-8524-1801"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiang Bai","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100394244","display_name":"Yao Chen","orcid":"https://orcid.org/0000-0002-3169-9577"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yao Chen","raw_affiliation_strings":["School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002354290","display_name":"Zhigui Liu","orcid":"https://orcid.org/0000-0003-2003-5879"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigui Liu","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035860292","display_name":"Qiumeng Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156095","display_name":"Aero Engine Corporation of China (China)","ror":"https://ror.org/04pe7qe08","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156095"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiumeng Qian","raw_affiliation_strings":["Sichuan Gas Turbine Establishment of Aero Engine Corporation of China, Mianyang 621000, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sichuan Gas Turbine Establishment of Aero Engine Corporation of China, Mianyang 621000, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I4210156095"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035860292","https://openalex.org/A5100394244"],"corresponding_institution_ids":["https://openalex.org/I4210156095","https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0968,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4424103,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"17","issue":"04","first_page":"1950031","last_page":"1950031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10784","display_name":"Muscle activation and electromyography studies","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7845865488052368},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7614584565162659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706880509853363},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6566778421401978},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5935595631599426},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5243813395500183},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.468166321516037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.445298433303833},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.44325655698776245},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.40605950355529785},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34049999713897705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2300506830215454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1506413221359253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1290135383605957}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7845865488052368},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7614584565162659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706880509853363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6566778421401978},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5935595631599426},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5243813395500183},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.468166321516037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.445298433303833},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.44325655698776245},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.40605950355529785},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34049999713897705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2300506830215454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1506413221359253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1290135383605957},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843619500312","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500312","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W591596225","https://openalex.org/W1986211303","https://openalex.org/W2007304863","https://openalex.org/W2025207313","https://openalex.org/W2038066799","https://openalex.org/W2040823282","https://openalex.org/W2087050671","https://openalex.org/W2100940538","https://openalex.org/W2136932470","https://openalex.org/W2138977980","https://openalex.org/W2155675828","https://openalex.org/W2250585094","https://openalex.org/W2312944851","https://openalex.org/W2319312237","https://openalex.org/W2491054843","https://openalex.org/W2559991057","https://openalex.org/W2626136348","https://openalex.org/W2767704770","https://openalex.org/W2783411905","https://openalex.org/W2803489765","https://openalex.org/W2883996957","https://openalex.org/W2887970163","https://openalex.org/W4248990817"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W2394201814","https://openalex.org/W2544838361","https://openalex.org/W2315418312","https://openalex.org/W2113447317","https://openalex.org/W2501264310","https://openalex.org/W4205434950","https://openalex.org/W2111927334","https://openalex.org/W4378174414","https://openalex.org/W2321543323"],"abstract_inverted_index":{"This":[0],"study":[1],"aimed":[2],"to":[3,29,35,40,85,122,156,161,188,220,222,266],"propose":[4],"an":[5,182],"extended":[6,90,183,257],"state":[7,91,184,258],"observer":[8,92,185],"fuzzy-approximation-based":[9],"active":[10,58,106],"disturbances":[11,52,59,107],"rejection":[12,60,108],"control":[13,26,95,134,167],"(FAADRC)":[14],"method":[15,113],"for":[16],"a":[17,74,177,207,286],"dual-arm":[18,70,147],"humanoid":[19,38,129,171,208],"robotic":[20],"system.":[21,173],"The":[22,56,89,226,243,277],"purpose":[23],"of":[24,50,73,76,102,127,144,164,169,206,255,270],"this":[25,138,175,275],"system":[27,135,153,229],"was":[28,62,83,97,154,186,234,240],"provide":[30],"disturbance":[31,191],"estimation":[32,192],"and":[33,53,67,110,160,193,236,251],"compensation":[34],"enable":[36],"the":[37,48,68,81,87,100,103,116,124,128,133,141,145,151,162,165,170,190,196,203,214,223,231,237,247,252,256,268,271,282,290],"robots":[39],"track":[41],"any":[42,157],"continuous":[43],"desired":[44,142,224],"trajectory,":[45],"even":[46],"in":[47,137,274],"presence":[49],"environmental":[51],"parametric":[54],"uncertainties.":[55],"proposed":[57,117,136,197,227,283],"controller":[61,179],"analyzed":[63],"using":[64],"mathematical":[65],"modeling,":[66],"robot":[69,130,172],"motion":[71],"information":[72],"number":[75],"cases":[77],"when":[78],"they":[79],"simulated":[80],"trajectory":[82,198],"examined":[84],"verify":[86],"model.":[88],"adaptive":[93],"fuzzy-approximation":[94],"strategy":[96],"designed":[98,187],"combining":[99],"synthesis":[101],"robust":[104,178],"design,":[105],"control,":[109],"Lyapunov":[111],"function":[112],"so":[114],"that":[115,281],"FAADRC":[118,152,232,284],"did":[119],"not":[120,200],"need":[121],"know":[123],"arms":[125,211,215],"model":[126],"precisely.":[131],"In":[132,174],"study,":[139],"once":[140],"trajectories":[143],"robot\u2019s":[146,209],"positions":[148],"were":[149,202,263],"given,":[150],"closed":[155],"unknown":[158],"functions":[159],"derivative":[163,294],"virtual":[166],"law":[168],"case,":[176],"based":[180],"on":[181],"realize":[189],"compensation.":[194],"Using":[195],"tracking,":[199],"only":[201],"coordinate":[204],"motions":[205],"two":[210],"generated,":[212],"but":[213],"could":[216],"also":[217],"be":[218],"controlled":[219],"move":[221],"positions.":[225],"closed-loop":[228],"under":[230],"design":[233],"effective,":[235],"asymptotic":[238],"stability":[239],"successfully":[241],"achieved.":[242],"numerical":[244],"simulation":[245],"showed":[246,280],"tracking":[248],"error":[249],"comparison":[250],"estimated":[253],"errors":[254],"observer.":[259],"Two":[260],"experimental":[261,278],"tests":[262],"carried":[264],"out":[265],"prove":[267],"performance":[269,288],"algorithm":[272],"presented":[273],"study.":[276],"results":[279],"exhibited":[285],"better":[287],"than":[289],"regular":[291],"proportional":[292],"integral":[293],"controller.":[295]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}