{"id":"https://openalex.org/W4220894800","doi":"https://doi.org/10.1177/09596518221080685","title":"Disturbance-observer-based tracking controller for a flexible-joint robotic manipulator with full-state constraints","display_name":"Disturbance-observer-based tracking controller for a flexible-joint robotic manipulator with full-state constraints","publication_year":2022,"publication_date":"2022-03-07","ids":{"openalex":"https://openalex.org/W4220894800","doi":"https://doi.org/10.1177/09596518221080685"},"language":"en","primary_location":{"id":"doi:10.1177/09596518221080685","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221080685","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/A5067532607","display_name":"Linran Tian","orcid":"https://orcid.org/0009-0008-4912-7949"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linran Tian","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101796449","display_name":"Yang Gao","orcid":"https://orcid.org/0009-0004-4643-4960"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015948239","display_name":"Zhongcai Zhang","orcid":"https://orcid.org/0000-0003-3123-868X"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongcai Zhang","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":"https://orcid.org/0000-0003-3123-868X","affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015948239"],"corresponding_institution_ids":["https://openalex.org/I202126657"],"apc_list":null,"apc_paid":null,"fwci":0.4852,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60440235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"236","issue":"6","first_page":"1166","last_page":"1175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9919999837875366,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9815999865531921,"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":0.8696777820587158},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6425897479057312},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5954424738883972},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5723882913589478},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5712612271308899},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5661070942878723},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.49962663650512695},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.49164873361587524},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4195255637168884},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.41576290130615234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4109652042388916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35032305121421814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2524263262748718},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22899040579795837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15375640988349915},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08725783228874207}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8696777820587158},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6425897479057312},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5954424738883972},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5723882913589478},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5712612271308899},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5661070942878723},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.49962663650512695},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.49164873361587524},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4195255637168884},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.41576290130615234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4109652042388916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35032305121421814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2524263262748718},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22899040579795837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15375640988349915},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08725783228874207},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518221080685","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221080685","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/G6955571690","display_name":null,"funder_award_id":"62173207, 62073187, 62073189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7247618636","display_name":null,"funder_award_id":"2019JZZY011111","funder_id":"https://openalex.org/F4320329857","funder_display_name":"Major Scientific and Technological Innovation Project of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329857","display_name":"Major Scientific and Technological Innovation Project of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1091491964","https://openalex.org/W1973811020","https://openalex.org/W1974887192","https://openalex.org/W2006676176","https://openalex.org/W2013540692","https://openalex.org/W2028153280","https://openalex.org/W2057491769","https://openalex.org/W2081030163","https://openalex.org/W2096323098","https://openalex.org/W2145438028","https://openalex.org/W2167808181","https://openalex.org/W2188422583","https://openalex.org/W2293923498","https://openalex.org/W2344646526","https://openalex.org/W2476385022","https://openalex.org/W2605516885","https://openalex.org/W2765910425","https://openalex.org/W2772340028","https://openalex.org/W2776321752","https://openalex.org/W2797280915","https://openalex.org/W2805998202","https://openalex.org/W2888308857","https://openalex.org/W2889334376","https://openalex.org/W2895632869","https://openalex.org/W2903190134","https://openalex.org/W2911376611","https://openalex.org/W2911551557","https://openalex.org/W2975408797","https://openalex.org/W4233649854"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2996812256","https://openalex.org/W2544838361","https://openalex.org/W2525543468","https://openalex.org/W2315418312","https://openalex.org/W2501264310","https://openalex.org/W4205434950","https://openalex.org/W2111927334","https://openalex.org/W2113447317","https://openalex.org/W2026490863"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"a":[3,10,24,55,60,75],"nonlinear":[4,25],"tracking":[5,62,70],"controller":[6,63],"is":[7,29,64,95],"designed":[8],"for":[9],"flexible-joint":[11],"(FJ)":[12],"robotic":[13],"manipulator":[14],"system":[15,53,93],"subject":[16],"to":[17,31,48,66,72,74,83],"full-state":[18],"constraints":[19],"and":[20],"external":[21],"disturbances.":[22],"First,":[23],"disturbance":[26,36],"observer":[27],"(NDO)":[28],"introduced":[30],"guarantee":[32],"that":[33,79,103],"the":[34,50,68,91,105,108],"respective":[35],"can":[37,80],"be":[38,81,84],"estimated":[39],"asymptotically.":[40],"Then,":[41],"state-dependent":[42],"function":[43],"(SDF)":[44],"transformations":[45],"are":[46,101],"used":[47],"convert":[49],"original":[51],"state-constrained":[52],"into":[54],"new":[56],"unconstrained":[57],"system.":[58],"Subsequently,":[59],"NDO-based":[61],"proposed":[65,109],"enable":[67],"output":[69],"error":[71],"converge":[73],"predefined":[76],"compact":[77],"set":[78],"adjusted":[82],"arbitrarily":[85],"small.":[86],"The":[87],"boundedness":[88],"of":[89,107],"all":[90],"closed-loop":[92],"signals":[94],"rigorously":[96],"proved.":[97],"Finally,":[98],"simulation":[99],"results":[100],"presented":[102],"show":[104],"effectiveness":[106],"control":[110],"algorithm.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}