{"id":"https://openalex.org/W4386847095","doi":"https://doi.org/10.1177/09596518231192770","title":"A globally exponentially stable observer for torque estimation with only position measurement","display_name":"A globally exponentially stable observer for torque estimation with only position measurement","publication_year":2023,"publication_date":"2023-09-19","ids":{"openalex":"https://openalex.org/W4386847095","doi":"https://doi.org/10.1177/09596518231192770"},"language":"en","primary_location":{"id":"doi:10.1177/09596518231192770","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518231192770","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/A5100418939","display_name":"Li Liu","orcid":"https://orcid.org/0000-0003-4866-7886"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China"],"raw_orcid":"https://orcid.org/0000-0003-4866-7886","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045796612","display_name":"Xiaokui Yue","orcid":"https://orcid.org/0000-0001-6482-0129"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaokui Yue","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056221676","display_name":"Haowei Wen","orcid":"https://orcid.org/0000-0002-7950-2462"},"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":false,"raw_author_name":"Haowei Wen","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072063355","display_name":"Zhiwei Hao","orcid":"https://orcid.org/0000-0002-6470-5638"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Zhiwei Hao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101422568","display_name":"Yuan Zhu","orcid":"https://orcid.org/0000-0001-9683-6854"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zhu","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi'an, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045796612"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.2307,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4659454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"238","issue":"2","first_page":"238","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9977999925613403,"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":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.8159732818603516},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8108347654342651},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7368223071098328},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5727027058601379},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5453367829322815},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4862719774246216},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4608002007007599},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.44365549087524414},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4361081123352051},{"id":"https://openalex.org/keywords/exponential-growth","display_name":"Exponential growth","score":0.4216832220554352},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38969171047210693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38099148869514465},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17346683144569397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09675538539886475},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08017799258232117},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07705181837081909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06543496251106262}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.8159732818603516},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8108347654342651},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7368223071098328},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5727027058601379},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5453367829322815},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4862719774246216},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4608002007007599},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.44365549087524414},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4361081123352051},{"id":"https://openalex.org/C75235859","wikidata":"https://www.wikidata.org/wiki/Q582659","display_name":"Exponential growth","level":2,"score":0.4216832220554352},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38969171047210693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38099148869514465},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17346683144569397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09675538539886475},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08017799258232117},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07705181837081909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06543496251106262},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518231192770","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518231192770","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G3553887175","display_name":null,"funder_award_id":"U2013206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G713974072","display_name":null,"funder_award_id":"11972026","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1560270123","https://openalex.org/W1566405224","https://openalex.org/W1965640174","https://openalex.org/W1969140852","https://openalex.org/W1971459248","https://openalex.org/W1986689506","https://openalex.org/W1990468320","https://openalex.org/W1990851787","https://openalex.org/W2012311101","https://openalex.org/W2044127092","https://openalex.org/W2048723778","https://openalex.org/W2072014657","https://openalex.org/W2081345909","https://openalex.org/W2151664215","https://openalex.org/W2154185762","https://openalex.org/W2154513594","https://openalex.org/W2304985229","https://openalex.org/W2607714105","https://openalex.org/W2897854721","https://openalex.org/W2955694373","https://openalex.org/W3019604371","https://openalex.org/W3134397487","https://openalex.org/W3142707146","https://openalex.org/W3152978417","https://openalex.org/W3210327052","https://openalex.org/W4205150766","https://openalex.org/W4231951493","https://openalex.org/W4237784317","https://openalex.org/W4250323882","https://openalex.org/W4253614545","https://openalex.org/W4285784252","https://openalex.org/W4365800129","https://openalex.org/W4403675444"],"related_works":["https://openalex.org/W2099351328","https://openalex.org/W2754211626","https://openalex.org/W2904867348","https://openalex.org/W2966811312","https://openalex.org/W2113484225","https://openalex.org/W2507462920","https://openalex.org/W2153918686","https://openalex.org/W1575150724","https://openalex.org/W2386766233","https://openalex.org/W2172163927"],"abstract_inverted_index":{"A":[0],"novel":[1],"estimation":[2,41],"scheme":[3],"for":[4,39],"joint":[5],"torque":[6,40],"information":[7],"is":[8,46],"constructed":[9],"by":[10],"observer":[11,38,62],"design":[12],"method":[13],"in":[14,48,55],"the":[15,34,56,59,72,78,83],"case":[16],"that":[17],"force/torque/velocity/acceleration":[18],"sensors":[19],"of":[20,58,82],"manipulator":[21],"are":[22],"not":[23],"available.":[24],"Based":[25],"on":[26],"generalized":[27],"dynamic":[28],"scaling":[29],"function":[30],"and":[31,66,80],"scalar":[32],"filtering,":[33],"globally":[35],"exponentially":[36],"stable":[37],"with":[42,63],"only":[43],"position":[44],"measurement":[45],"presented":[47],"this":[49],"article.":[50],"The":[51],"main":[52],"contribution":[53],"lies":[54],"development":[57],"classic":[60],"Nicosia":[61],"performance":[64],"improvements":[65],"significant":[67],"order":[68],"reduction":[69],"compared":[70],"to":[71],"existing":[73],"results.":[74],"Comparative":[75],"simulations":[76],"demonstrate":[77],"effectiveness":[79],"superiority":[81],"proposed":[84],"scheme.":[85]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
