{"id":"https://openalex.org/W4411895452","doi":"https://doi.org/10.3390/sym17071035","title":"Control Design for Flexible Manipulator Model with Nonlinear Input and State Constraints Based on Symmetric Barrier Lyapunov Function","display_name":"Control Design for Flexible Manipulator Model with Nonlinear Input and State Constraints Based on Symmetric Barrier Lyapunov Function","publication_year":2025,"publication_date":"2025-07-01","ids":{"openalex":"https://openalex.org/W4411895452","doi":"https://doi.org/10.3390/sym17071035"},"language":"en","primary_location":{"id":"doi:10.3390/sym17071035","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17071035","pdf_url":"https://www.mdpi.com/2073-8994/17/7/1035/pdf?version=1751361189","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/17/7/1035/pdf?version=1751361189","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100553276","display_name":"Yukun Song","orcid":null},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yukun Song","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Jinzhou 121001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Jinzhou 121001, China","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101822604","display_name":"Yongjun Wu","orcid":"https://orcid.org/0000-0001-9073-6633"},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjun Wu","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Jinzhou 121001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Jinzhou 121001, China","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100350504","display_name":"Yang Chen","orcid":"https://orcid.org/0000-0003-4857-2457"},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Chen","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Jinzhou 121001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Jinzhou 121001, China","institution_ids":["https://openalex.org/I2898894"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100553276"],"corresponding_institution_ids":["https://openalex.org/I2898894"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":1.9517,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86674261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"17","issue":"7","first_page":"1035","last_page":"1035"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.994700014591217,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9940000176429749,"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":0.7204235792160034},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6915237903594971},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.660841703414917},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.5992355346679688},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5456571578979492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48616668581962585},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4493109881877899},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4326923191547394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3995988368988037},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3277384638786316},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16266700625419617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12876629829406738},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0646195113658905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06058311462402344}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7204235792160034},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6915237903594971},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.660841703414917},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.5992355346679688},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5456571578979492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48616668581962585},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4493109881877899},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4326923191547394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3995988368988037},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3277384638786316},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16266700625419617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12876629829406738},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0646195113658905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06058311462402344},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/sym17071035","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17071035","pdf_url":"https://www.mdpi.com/2073-8994/17/7/1035/pdf?version=1751361189","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/sym17071035","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17071035","pdf_url":"https://www.mdpi.com/2073-8994/17/7/1035/pdf?version=1751361189","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3100253594","display_name":null,"funder_award_id":"62203200","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4411895452.pdf","grobid_xml":"https://content.openalex.org/works/W4411895452.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W2013246070","https://openalex.org/W2024612665","https://openalex.org/W2051203494","https://openalex.org/W2062373349","https://openalex.org/W2099127171","https://openalex.org/W2106545729","https://openalex.org/W2119529803","https://openalex.org/W2130588566","https://openalex.org/W2142572589","https://openalex.org/W2146342888","https://openalex.org/W2387701521","https://openalex.org/W2589369466","https://openalex.org/W2605709844","https://openalex.org/W2788545645","https://openalex.org/W2801598696","https://openalex.org/W2911098646","https://openalex.org/W2911458328","https://openalex.org/W2997842594","https://openalex.org/W3151685850","https://openalex.org/W3153068541","https://openalex.org/W4205889681","https://openalex.org/W4281391673","https://openalex.org/W4281806258","https://openalex.org/W4322501056","https://openalex.org/W4385781866","https://openalex.org/W4385880764","https://openalex.org/W4386973436","https://openalex.org/W4387674851","https://openalex.org/W4389039455","https://openalex.org/W4389359686","https://openalex.org/W4391454602","https://openalex.org/W4391853535","https://openalex.org/W4391853779","https://openalex.org/W4402547613","https://openalex.org/W4408241157","https://openalex.org/W6872421785","https://openalex.org/W6989181443"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W1964805920","https://openalex.org/W3194517843","https://openalex.org/W3217133416","https://openalex.org/W2234502090","https://openalex.org/W4388874082","https://openalex.org/W2147929414","https://openalex.org/W2496188264","https://openalex.org/W2383986032","https://openalex.org/W2101859637"],"abstract_inverted_index":{"Flexible":[0],"manipulators":[1],"are":[2,64,156,182],"widely":[3],"applied":[4,65],"in":[5,142],"many":[6],"fields.":[7],"Here,":[8],"the":[9,34,43,47,53,70,74,77,83,99,107,110,114,144,158,168,174,179,193,196,202],"control":[10],"design":[11],"for":[12,106],"a":[13,61,90,94,124],"simplified":[14],"flexible":[15],"manipulator":[16],"model":[17],"with":[18],"nonlinear":[19,78,111],"inputs":[20,30,68],"and":[21,31,46,86,93,137,147,177,198],"state":[22,115],"constraints":[23,59],"is":[24,102,120,170],"studied.":[25],"The":[26,57,149,162],"impact":[27],"of":[28,60,76,109,195],"two":[29],"disturbances":[32],"on":[33,123],"system":[35,169,197],"was":[36],"considered.":[37],"One":[38],"torque":[39],"input":[40,49,58],"comes":[41,51],"from":[42,52],"joint":[44],"motor,":[45],"other":[48],"force":[50],"linkage":[54],"actuator":[55],"tip.":[56],"dead":[62,84],"zone":[63,85],"to":[66,69,104,173,184],"both":[67],"manipulator.":[71],"To":[72],"offset":[73],"effect":[75],"input,":[79],"we":[80],"first":[81],"linearize":[82],"convert":[87],"it":[88],"into":[89],"linear-input":[91],"characteristic":[92],"finite":[95],"error":[96],"value.":[97],"Then,":[98],"adaptive":[100,118],"rate":[101],"designed":[103],"compensate":[105],"effects":[108],"input.":[112],"For":[113],"constraints,":[116],"an":[117],"controller":[119],"proposed":[121],"based":[122],"symmetric":[125],"tangent-type":[126],"barrier":[127],"Lyapunov":[128],"function":[129],"which":[130],"can":[131],"operate":[132],"under":[133],"closer":[134],"constraint":[135,160,203],"conditions,":[136],"parameter":[138],"tunability":[139],"offers":[140],"flexibility":[141],"balancing":[143],"constraints\u2019":[145],"tightness":[146],"performance.":[148],"stability":[150,194],"proof":[151],"ensures":[152,192],"that":[153,167],"all":[154],"states":[155],"within":[157],"given":[159],"range.":[161],"provided":[163],"simulation":[164],"results":[165],"indicate":[166],"not":[171,200],"sensitive":[172],"initial":[175,180],"values,":[176],"when":[178],"values":[181],"taken":[183],"be":[185],"between":[186],"open":[187],"intervals":[188],"(\u22120.4,":[189],"0.34),":[190],"this":[191],"does":[199],"violate":[201],"bounds.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}