{"id":"https://openalex.org/W2924676539","doi":"https://doi.org/10.1177/0142331219832954","title":"Sampled-data extended state observer-based backstepping control of two-link flexible manipulator","display_name":"Sampled-data extended state observer-based backstepping control of two-link flexible manipulator","publication_year":2019,"publication_date":"2019-03-21","ids":{"openalex":"https://openalex.org/W2924676539","doi":"https://doi.org/10.1177/0142331219832954","mag":"2924676539"},"language":"en","primary_location":{"id":"doi:10.1177/0142331219832954","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219832954","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5051870886","display_name":"Umesh Kumar Sahu","orcid":"https://orcid.org/0000-0003-0841-6281"},"institutions":[{"id":"https://openalex.org/I16292982","display_name":"National Institute of Technology Rourkela","ror":"https://ror.org/011gmn932","country_code":"IN","type":"education","lineage":["https://openalex.org/I16292982"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Umesh Kumar Sahu","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology Rourkela, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology Rourkela, India","institution_ids":["https://openalex.org/I16292982"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074645155","display_name":"Bidyadhar Subudhi","orcid":"https://orcid.org/0000-0003-4383-6783"},"institutions":[{"id":"https://openalex.org/I16292982","display_name":"National Institute of Technology Rourkela","ror":"https://ror.org/011gmn932","country_code":"IN","type":"education","lineage":["https://openalex.org/I16292982"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Bidyadhar Subudhi","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology Rourkela, India"],"raw_orcid":"https://orcid.org/0000-0003-4383-6783","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology Rourkela, India","institution_ids":["https://openalex.org/I16292982"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037743544","display_name":"Dipti Patra","orcid":"https://orcid.org/0000-0002-6094-3735"},"institutions":[{"id":"https://openalex.org/I16292982","display_name":"National Institute of Technology Rourkela","ror":"https://ror.org/011gmn932","country_code":"IN","type":"education","lineage":["https://openalex.org/I16292982"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dipti Patra","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology Rourkela, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology Rourkela, India","institution_ids":["https://openalex.org/I16292982"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5074645155"],"corresponding_institution_ids":["https://openalex.org/I16292982"],"apc_list":null,"apc_paid":null,"fwci":1.4781,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82046093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"41","issue":"13","first_page":"3581","last_page":"3599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9807000160217285,"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":0.8485252857208252},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8311829566955566},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.629047155380249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5487433671951294},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.49980831146240234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49904704093933105},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4710685610771179},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4628768265247345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44496774673461914},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4210916757583618},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.41995665431022644},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3644786477088928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2795124650001526},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2279902696609497},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1835586130619049},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17720842361450195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14796745777130127},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06765875220298767}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8485252857208252},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8311829566955566},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.629047155380249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5487433671951294},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.49980831146240234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49904704093933105},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4710685610771179},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4628768265247345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44496774673461914},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4210916757583618},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41995665431022644},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3644786477088928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2795124650001526},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2279902696609497},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1835586130619049},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17720842361450195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14796745777130127},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06765875220298767},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331219832954","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219832954","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1091491964","https://openalex.org/W1488363695","https://openalex.org/W1523974158","https://openalex.org/W1589447190","https://openalex.org/W1967375554","https://openalex.org/W1979249818","https://openalex.org/W2029221225","https://openalex.org/W2036756246","https://openalex.org/W2065989047","https://openalex.org/W2098748350","https://openalex.org/W2104302353","https://openalex.org/W2138139641","https://openalex.org/W2139766664","https://openalex.org/W2145333961","https://openalex.org/W2157110801","https://openalex.org/W2169462064","https://openalex.org/W2169839130","https://openalex.org/W2309723479","https://openalex.org/W2327996243","https://openalex.org/W2337012383","https://openalex.org/W2342009288","https://openalex.org/W2512196316","https://openalex.org/W2528120177","https://openalex.org/W2548450690","https://openalex.org/W2586756413","https://openalex.org/W2606403429","https://openalex.org/W2762307195","https://openalex.org/W2763124789","https://openalex.org/W2800424298","https://openalex.org/W3092851439","https://openalex.org/W4232993041"],"related_works":["https://openalex.org/W2376449068","https://openalex.org/W4365392829","https://openalex.org/W2100998971","https://openalex.org/W3088355205","https://openalex.org/W2002811656","https://openalex.org/W2990087644","https://openalex.org/W2104457306","https://openalex.org/W3164341681","https://openalex.org/W2517897957","https://openalex.org/W3150198677"],"abstract_inverted_index":{"Currently,":[0],"space":[1],"robots":[2,6],"such":[3],"as":[4],"planetary":[5],"and":[7,29,45,111,116,133,151,179],"flexible-link":[8],"manipulators":[9],"(FLMs)":[10],"are":[11,47,123,141],"finding":[12],"specific":[13],"applications":[14],"to":[15,32,38,88,106,175],"reduce":[16],"the":[17,22,48,52,108,119,136,158,167],"cost":[18],"of":[19,26,54,59,96,118,135,172],"launching.":[20],"However,":[21],"structural":[23],"flexible":[24,74],"nature":[25],"their":[27],"arms":[28],"joints":[30],"leads":[31],"errors":[33],"in":[34,51,169],"tip":[35,39],"positioning":[36],"owing":[37],"deflection.":[40],"The":[41,129],"internal":[42],"model":[43,180],"uncertainties":[44,181],"disturbance":[46],"key":[49],"challenges":[50],"development":[53],"control":[55,95,121],"strategies":[56],"for":[57,71,92],"tip-tracking":[58,69,94,170],"FLMs.":[60],"To":[61],"deal":[62],"with":[63,143,182],"these":[64],"challenges,":[65],"we":[66],"design":[67],"a":[68,72,79,97,100],"controller":[70,103,140],"two-link":[73],"manipulator":[75],"(TLFM)":[76],"by":[77,125,147],"developing":[78],"sampled-data":[80],"extended":[81],"state":[82],"observer":[83],"(SD-ESO).":[84],"It":[85,154],"is":[86,104,155],"designed":[87,105],"reconstruct":[89],"uncertain":[90],"parameters":[91],"accurate":[93],"TLFM.":[98],"Finally,":[99],"backstepping":[101],"(BS)":[102],"attenuate":[107],"estimation":[109],"error":[110],"other":[112,144],"bounded":[113],"disturbances.":[114],"Convergence":[115],"stability":[117],"proposed":[120,137],"system":[122],"investigated":[124],"using":[126],"Lyapunov":[127],"theory.":[128],"benefits":[130],"(control":[131],"performance":[132,171],"robustness)":[134],"SD-ESO-based":[138,162],"BS":[139,163],"compared":[142],"similar":[145],"approaches":[146],"pursuing":[148],"both":[149],"simulation":[150],"experimental":[152],"studies.":[153],"observed":[156],"from":[157],"results":[159],"obtained":[160],"that":[161],"Controller":[164],"effectively":[165],"compensates":[166],"deviation":[168],"TLFM":[173],"due":[174],"non-minimum":[176],"phase":[177],"behavior":[178],"an":[183],"improved":[184],"transient":[185],"response.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}