{"id":"https://openalex.org/W3121948819","doi":"https://doi.org/10.1155/2021/6664750","title":"Robust Fixed\u2010Time Inverse Dynamic Control for Uncertain Robot Manipulator System","display_name":"Robust Fixed\u2010Time Inverse Dynamic Control for Uncertain Robot Manipulator System","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3121948819","doi":"https://doi.org/10.1155/2021/6664750","mag":"3121948819"},"language":"en","primary_location":{"id":"doi:10.1155/2021/6664750","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6664750","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6664750.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2021/6664750.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100784857","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0003-0481-4995"},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Wang","raw_affiliation_strings":["School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","School of Science, Xijing University, Xi'an"],"raw_orcid":"https://orcid.org/0000-0003-0481-4995","affiliations":[{"raw_affiliation_string":"School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","institution_ids":["https://openalex.org/I4210162994"]},{"raw_affiliation_string":"School of Science, Xijing University, Xi'an","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101784591","display_name":"Mingshu Chen","orcid":"https://orcid.org/0000-0002-3670-1680"},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingshu Chen","raw_affiliation_strings":["School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","School of Science, Xijing University, Xi'an"],"raw_orcid":"https://orcid.org/0000-0002-3670-1680","affiliations":[{"raw_affiliation_string":"School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","institution_ids":["https://openalex.org/I4210162994"]},{"raw_affiliation_string":"School of Science, Xijing University, Xi'an","institution_ids":["https://openalex.org/I4210162994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101588414","display_name":"Yu Song","orcid":"https://orcid.org/0000-0001-8177-7951"},"institutions":[{"id":"https://openalex.org/I4210162994","display_name":"Xijing University","ror":"https://ror.org/05xsjkb63","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162994"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Song","raw_affiliation_strings":["School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","School of Science, Xijing University, Xi'an"],"raw_orcid":"https://orcid.org/0000-0001-8177-7951","affiliations":[{"raw_affiliation_string":"School of Science, Xijing University, Xi\u2019an, China xijing.com.cn","institution_ids":["https://openalex.org/I4210162994"]},{"raw_affiliation_string":"School of Science, Xijing University, Xi'an","institution_ids":["https://openalex.org/I4210162994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100784857"],"corresponding_institution_ids":["https://openalex.org/I4210162994"],"apc_list":{"value":2550,"currency":"USD","value_usd":2550},"apc_paid":{"value":2550,"currency":"USD","value_usd":2550},"fwci":0.8696,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.69337671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2021","issue":"1","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":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987000226974487,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9986000061035156,"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":0.7912523746490479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5684162378311157},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5679040551185608},{"id":"https://openalex.org/keywords/differentiator","display_name":"Differentiator","score":0.5290103554725647},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4981048107147217},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.49143755435943604},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47683659195899963},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44280049204826355},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.43826180696487427},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3707231879234314},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36063152551651},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3567022383213043},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.15967178344726562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11819824576377869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09641459584236145},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.0700293481349945}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7912523746490479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684162378311157},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5679040551185608},{"id":"https://openalex.org/C12112733","wikidata":"https://www.wikidata.org/wiki/Q2659948","display_name":"Differentiator","level":3,"score":0.5290103554725647},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4981048107147217},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.49143755435943604},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47683659195899963},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44280049204826355},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.43826180696487427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3707231879234314},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36063152551651},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3567022383213043},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.15967178344726562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11819824576377869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09641459584236145},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0700293481349945},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":3,"locations":[{"id":"doi:10.1155/2021/6664750","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6664750","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6664750.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:6664750","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2021/6664750.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:be02e9da08f7477cb5e14b5f15b2bf1b","is_oa":true,"landing_page_url":"https://doaj.org/article/be02e9da08f7477cb5e14b5f15b2bf1b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/6664750","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6664750","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6664750.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3121948819.pdf","grobid_xml":"https://content.openalex.org/works/W3121948819.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1517290981","https://openalex.org/W1976858236","https://openalex.org/W1988367613","https://openalex.org/W1988837728","https://openalex.org/W2002954889","https://openalex.org/W2016256815","https://openalex.org/W2029700848","https://openalex.org/W2036316876","https://openalex.org/W2046956237","https://openalex.org/W2066202893","https://openalex.org/W2090028111","https://openalex.org/W2090108740","https://openalex.org/W2097223915","https://openalex.org/W2106336670","https://openalex.org/W2115168887","https://openalex.org/W2117933783","https://openalex.org/W2118766245","https://openalex.org/W2119390933","https://openalex.org/W2135493101","https://openalex.org/W2154608673","https://openalex.org/W2155029638","https://openalex.org/W2158121031","https://openalex.org/W2158503284","https://openalex.org/W2296451673","https://openalex.org/W2327720711","https://openalex.org/W2590307769","https://openalex.org/W2767173179","https://openalex.org/W2795838168","https://openalex.org/W2801259744","https://openalex.org/W2819831608","https://openalex.org/W2914647236","https://openalex.org/W2971295078","https://openalex.org/W2972177120","https://openalex.org/W2979788123","https://openalex.org/W2980139847","https://openalex.org/W3010563370","https://openalex.org/W3024639575"],"related_works":["https://openalex.org/W2161663862","https://openalex.org/W2007635291","https://openalex.org/W1974197578","https://openalex.org/W3111605623","https://openalex.org/W2922314385","https://openalex.org/W1966951404","https://openalex.org/W2252041236","https://openalex.org/W4379875013","https://openalex.org/W2088031893","https://openalex.org/W2121703804"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,24,31,49],"novel":[4],"robust":[5,19,25,32,84],"fixed\u2010time":[6,33,46,75],"control":[7,26,36,43,70,85,109],"for":[8,77],"the":[9,17,41,45,62,68,73,78,83,88,96,104,107],"robot":[10,79],"manipulator":[11,80],"system":[12,51,81],"with":[13,52],"uncertainties.":[14],"Based":[15],"on":[16],"uniform":[18],"exact":[20],"differentiator":[21],"(URED)":[22],"algorithm,":[23],"term":[27],"is":[28,38,54,91],"constructed.":[29],"Then,":[30],"inverse":[34],"dynamics":[35],"(IDC)":[37],"proposed.":[39],"For":[40],"proposed":[42,59,69,89,108],"method,":[44],"stability":[47],"of":[48,106],"closed\u2010loop":[50],"uncertainties":[53],"strictly":[55,92],"proved.":[56],"The":[57],"newly":[58],"method":[60,90],"exhibits":[61],"following":[63],"two":[64],"attractive":[65],"features.":[66],"First,":[67],"scheme":[71],"extends":[72],"existing":[74],"IDC":[76],"to":[82],"scheme.":[86,110],"Second,":[87],"nonsingular":[93],"rather":[94],"than":[95],"commonly":[97],"used":[98],"approximate":[99],"approach.":[100],"Simulation":[101],"result":[102],"demonstrates":[103],"effectiveness":[105]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}