{"id":"https://openalex.org/W4220668278","doi":"https://doi.org/10.1177/09596518221080249","title":"Adaptive neural networks force/position control of uncertain manipulators subject to input saturation and output constraints","display_name":"Adaptive neural networks force/position control of uncertain manipulators subject to input saturation and output constraints","publication_year":2022,"publication_date":"2022-03-07","ids":{"openalex":"https://openalex.org/W4220668278","doi":"https://doi.org/10.1177/09596518221080249"},"language":"en","primary_location":{"id":"doi:10.1177/09596518221080249","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221080249","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control 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/A5030735186","display_name":"Yuxiang Wu","orcid":"https://orcid.org/0000-0002-2263-6953"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Wu","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031425920","display_name":"Haoran Fang","orcid":"https://orcid.org/0000-0002-7132-2969"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoran Fang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7132-2969","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030782507","display_name":"Tian Xu","orcid":"https://orcid.org/0000-0002-7464-3792"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Xu","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7464-3792","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025897181","display_name":"Fuxi Wan","orcid":"https://orcid.org/0009-0002-0111-9954"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuxi Wan","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031425920"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.1173,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.36263017,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"236","issue":"6","first_page":"1197","last_page":"1210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14011","display_name":"Elevator Systems and Control","score":0.9799000024795532,"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":0.8553261756896973},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.649099588394165},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5944089293479919},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5467092990875244},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5227182507514954},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5153043270111084},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5117664337158203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.486817330121994},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4566355049610138},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24806302785873413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18214645981788635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1470600664615631}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8553261756896973},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.649099588394165},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5944089293479919},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5467092990875244},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5227182507514954},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5153043270111084},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5117664337158203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.486817330121994},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4566355049610138},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24806302785873413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18214645981788635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1470600664615631},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518221080249","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221080249","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2333554104","display_name":null,"funder_award_id":"2015B010133002;2017B090910011","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W49416374","https://openalex.org/W1493190793","https://openalex.org/W1967377907","https://openalex.org/W1983687330","https://openalex.org/W1988367613","https://openalex.org/W1995110138","https://openalex.org/W1997520484","https://openalex.org/W2016958754","https://openalex.org/W2031437707","https://openalex.org/W2043739434","https://openalex.org/W2089871752","https://openalex.org/W2109151516","https://openalex.org/W2113442785","https://openalex.org/W2134781609","https://openalex.org/W2137960819","https://openalex.org/W2147240540","https://openalex.org/W2151858664","https://openalex.org/W2152737511","https://openalex.org/W2154757413","https://openalex.org/W2166211466","https://openalex.org/W2168545914","https://openalex.org/W2191193810","https://openalex.org/W2253274025","https://openalex.org/W2294666930","https://openalex.org/W2337334738","https://openalex.org/W2364918774","https://openalex.org/W2500734973","https://openalex.org/W2584565328","https://openalex.org/W2586640673","https://openalex.org/W2591999327","https://openalex.org/W2636582669","https://openalex.org/W2724448021","https://openalex.org/W2743584770","https://openalex.org/W2754892182","https://openalex.org/W2790105089","https://openalex.org/W2791944441","https://openalex.org/W2797280915","https://openalex.org/W2811234001","https://openalex.org/W2902172955","https://openalex.org/W2902216418","https://openalex.org/W2916488620","https://openalex.org/W2955071024","https://openalex.org/W2964396676","https://openalex.org/W2972549579","https://openalex.org/W2990616314","https://openalex.org/W3112744723","https://openalex.org/W4229844832"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W4386900933","https://openalex.org/W4385301946","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2032253950","https://openalex.org/W2101148463"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"considering":[3,149],"the":[4,32,44,63,78,84,89,101,111,116,120,135,159,170],"influence":[5],"of":[6,25,119],"input":[7,85,150],"saturation":[8,86,151],"and":[9,47,88,143,152],"time-varying":[10],"output":[11,57,153],"constraints,":[12],"an":[13,67,71],"adaptive":[14,137,160],"neural":[15,38,138,161],"networks":[16,39,139],"force/position":[17,140,146,163],"control":[18,167],"method":[19],"is":[20,75,93,125,132],"proposed":[21,136],"for":[22,95],"a":[23,128,144],"class":[24],"uncertain":[26],"robotic":[27],"manipulators":[28],"in":[29,77,100],"contact":[30],"with":[31],"external":[33],"environment.":[34],"Radial":[35],"basis":[36],"function":[37],"are":[40,59,104],"introduced":[41,94],"to":[42,52,66,82,106],"approximate":[43],"system":[45,65,74,81,103],"uncertainty":[46],"only":[48],"one":[49],"parameter":[50],"needs":[51],"be":[53,107],"updated":[54],"online.":[55],"The":[56],"constraints":[58],"satisfied":[60],"by":[61,109,134],"converting":[62],"constrained":[64],"unconstrained":[68,80],"one.":[69],"Moreover,":[70],"auxiliary":[72],"dynamic":[73],"applied":[76],"transformed":[79],"handle":[83],"nonlinearity":[87],"Moore\u2013Penrose":[90],"pseudo-inverse":[91],"term":[92],"controller":[96,142,147,164],"design.":[97],"All":[98],"signals":[99],"closed-loop":[102],"proved":[105],"bounded":[108],"using":[110],"Lyapunov":[112],"method.":[113,172],"To":[114],"show":[115,157],"good":[117],"performance":[118,168],"given":[121],"scheme,":[122],"comparative":[123],"simulation":[124],"conducted":[126],"on":[127],"two-joint":[129],"manipulator,":[130],"which":[131],"controlled":[133],"tracking":[141],"conventional":[145],"without":[148],"constraints.":[154],"Simulation":[155],"results":[156],"that":[158],"network":[162],"has":[165],"better":[166],"than":[169],"traditional":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-18T08:10:14.011955","created_date":"2025-10-10T00:00:00"}