{"id":"https://openalex.org/W4226407736","doi":"https://doi.org/10.3934/mfc.2022012","title":"Prescribed performance tracking control of multi-link robotic manipulator with uncertainties","display_name":"Prescribed performance tracking control of multi-link robotic manipulator with uncertainties","publication_year":2022,"publication_date":"2022-04-14","ids":{"openalex":"https://openalex.org/W4226407736","doi":"https://doi.org/10.3934/mfc.2022012"},"language":"en","primary_location":{"id":"doi:10.3934/mfc.2022012","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2022012","pdf_url":"https://www.aimsciences.org/data/article/export-pdf?id=62576dad2d80b7478d15c0a1","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.aimsciences.org/data/article/export-pdf?id=62576dad2d80b7478d15c0a1","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100408351","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0002-4353-3283"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Chen","raw_affiliation_strings":["Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047629430","display_name":"Shanlin Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanlin Yi","raw_affiliation_strings":["School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","institution_ids":["https://openalex.org/I78978612"]},{"raw_affiliation_string":"Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431165","display_name":"Feng Wang","orcid":"https://orcid.org/0000-0001-9159-6679"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wang","raw_affiliation_strings":["School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","institution_ids":["https://openalex.org/I78978612"]},{"raw_affiliation_string":"Jiangsu Engineering Center for Modern Agricultural Machinery and Agronomy Technology, Yangzhou, 225127, China; School of Mechanical Engineering, Yangzhou University, Yangzhou, 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002568038","display_name":"Chengxi Zhang","orcid":"https://orcid.org/0000-0002-3130-6497"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengxi Zhang","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen, 518055, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen, 518055, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112709236","display_name":"Qingmin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130112","display_name":"China Academy of Information and Communications Technology","ror":"https://ror.org/038dte259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210130112","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingmin Yu","raw_affiliation_strings":["China Academy of Information and Communications Technology, Beijing, 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Academy of Information and Communications Technology, Beijing, 100191, China","institution_ids":["https://openalex.org/I4210130112"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1214,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39150591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":"2","first_page":"158","last_page":"170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9980000257492065,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.851281464099884},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5774564743041992},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5730438232421875},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5535128116607666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5518666505813599},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5436787009239197},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.47643834352493286},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.45480746030807495},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4413842558860779},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.4314332902431488},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4180448055267334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33326542377471924},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1967298984527588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13077503442764282}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.851281464099884},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5774564743041992},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5730438232421875},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5535128116607666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5518666505813599},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5436787009239197},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.47643834352493286},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.45480746030807495},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4413842558860779},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4314332902431488},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4180448055267334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33326542377471924},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1967298984527588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13077503442764282},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3934/mfc.2022012","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2022012","pdf_url":"https://www.aimsciences.org/data/article/export-pdf?id=62576dad2d80b7478d15c0a1","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3934/mfc.2022012","is_oa":true,"landing_page_url":"https://doi.org/10.3934/mfc.2022012","pdf_url":"https://www.aimsciences.org/data/article/export-pdf?id=62576dad2d80b7478d15c0a1","source":{"id":"https://openalex.org/S4210238810","display_name":"Mathematical Foundations of Computing","issn_l":"2577-8838","issn":["2577-8838"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315844","host_organization_name":"American Institute of Mathematical Sciences","host_organization_lineage":["https://openalex.org/P4310315844"],"host_organization_lineage_names":["American Institute of Mathematical Sciences"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematical Foundations of Computing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226407736.pdf","grobid_xml":"https://content.openalex.org/works/W4226407736.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1988876996","https://openalex.org/W1990777642","https://openalex.org/W2034743631","https://openalex.org/W2054307697","https://openalex.org/W2075335042","https://openalex.org/W2097696157","https://openalex.org/W2124332464","https://openalex.org/W2135493101","https://openalex.org/W2142886492","https://openalex.org/W2145854152","https://openalex.org/W2164136313","https://openalex.org/W2165686770","https://openalex.org/W2288223621","https://openalex.org/W2470897876","https://openalex.org/W2569757722","https://openalex.org/W2775507451","https://openalex.org/W2786229123","https://openalex.org/W2790349614","https://openalex.org/W2793915155","https://openalex.org/W2797679089","https://openalex.org/W2801259114","https://openalex.org/W2895734144","https://openalex.org/W2898178326","https://openalex.org/W2910883529","https://openalex.org/W2934032243","https://openalex.org/W2945228227","https://openalex.org/W2963945659","https://openalex.org/W2999397317","https://openalex.org/W3040702708","https://openalex.org/W3126581754","https://openalex.org/W3155752356","https://openalex.org/W3207002955"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2161688277"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,38,58,62,81,87,90,109,122,128,134,142,147],"trajectory":[4],"tracking":[5,30],"problem":[6],"with":[7,42,69,80,95],"prescribed":[8,59,131],"performance":[9,24,43,60,132],"for":[10],"a":[11,70],"multi-link":[12],"robotic":[13],"manipulator":[14],"subject":[15],"to":[16,28,56,75,93,107],"unknown":[17,77],"dynamics":[18,41,78],"and":[19,34,111,144],"external":[20],"disturbances.":[21],"A":[22],"predefined":[23],"function":[25],"is":[26,54,73,103,116],"adopted":[27],"describe":[29],"errors'":[31],"desired":[32],"transient":[33],"steady-state":[35],"performance.":[36],"Then,":[37],"output":[39],"error":[40],"constraints":[44],"are":[45],"transformed":[46],"into":[47,105],"an":[48],"equivalent":[49],"unconstrained":[50],"system,":[51],"whose":[52],"stabilization":[53],"sufficient":[55],"guarantee":[57,127],"of":[61,89,113,130,136,146],"original":[63],"system.":[64],"An":[65],"extended":[66],"state":[67],"observer":[68],"friction":[71,101],"model":[72,102],"designed":[74],"approximate":[76],"together":[79],"unmeasurable":[82],"velocity":[83,112],"state,":[84],"which":[85],"extends":[86],"applicability":[88],"proposed":[91,123,148],"controller":[92,124],"manipulators":[94],"only":[96],"position":[97],"signals":[98],"available.":[99],"The":[100,138],"lumped":[104],"it":[106],"improve":[108],"precision":[110],"estimation.":[114],"It":[115],"proved":[117],"via":[118],"Lyapunov":[119],"analysis":[120],"that":[121],"can":[125],"theoretically":[126],"satisfaction":[129],"in":[133],"presence":[135],"uncertainties.":[137],"simulation":[139],"results":[140],"verify":[141],"reliability":[143],"effectiveness":[145],"method.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
