{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T16:14:22Z","timestamp":1770740062837,"version":"3.49.0"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2013,11,6]],"date-time":"2013-11-06T00:00:00Z","timestamp":1383696000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Circuits Syst Signal Process"],"published-print":{"date-parts":[[2014,4]]},"DOI":"10.1007\/s00034-013-9682-4","type":"journal-article","created":{"date-parts":[[2013,11,5]],"date-time":"2013-11-05T17:05:29Z","timestamp":1383671129000},"page":"1119-1133","source":"Crossref","is-referenced-by-count":34,"title":["Trajectory Switching Control of Robotic Manipulators Based on RBF Neural Networks"],"prefix":"10.1007","volume":"33","author":[{"given":"Lei","family":"Yu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shumin","family":"Fei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,11,6]]},"reference":[{"issue":"2","key":"9682_CR1","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1007\/BF01206679","volume":"18","author":"A. Ailon","year":"1999","unstructured":"A. Ailon, M.I. Gil, E.S. Choi, B.H. Ahn, Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters. Circuits Syst. Signal Process. 18(2), 131\u2013147 (1999)","journal-title":"Circuits Syst. Signal Process."},{"issue":"2","key":"9682_CR2","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1109\/TAC.2010.2097351","volume":"56","author":"L.I. Allerhand","year":"2011","unstructured":"L.I. Allerhand, U. Shaked, Robust stability and stabilization of linear switched systems with dwell time. IEEE Trans. Autom. Control 56(2), 381\u2013386 (2011)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"9682_CR3","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1016\/S0005-1098(01)00191-1","volume":"38","author":"O. Barambones","year":"2002","unstructured":"O. Barambones, V. Etxebarria, Robust neural control for robotic manipulators. Automatica 38(2), 235\u2013242 (2002)","journal-title":"Automatica"},{"issue":"1","key":"9682_CR4","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1109\/TRO.2009.2033957","volume":"26","author":"L. Bascetta","year":"2010","unstructured":"L. Bascetta, P. Rocco, Revising the robust-control design for rigid robot manipulators. IEEE Trans. Robot. 26(1), 180\u2013187 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"9682_CR5","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1109\/9.664150","volume":"43","author":"M. Branicky","year":"1998","unstructured":"M. Branicky, Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Trans. Autom. Control 43(4), 475\u2013482 (1998)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"11","key":"9682_CR6","first-page":"7679","volume":"8","author":"T. Chen","year":"2012","unstructured":"T. Chen, A collaborative fuzzy-neural system for global CO2 concentration forecasting. Int. J. Innov. Comput. Inf. Control 8(11), 7679\u20137696 (2012)","journal-title":"Int. J. Innov. Comput. Inf. Control"},{"issue":"2","key":"9682_CR7","doi-asserted-by":"crossref","first-page":"779","DOI":"10.1007\/s00034-011-9347-0","volume":"31","author":"Y. Chen","year":"2012","unstructured":"Y. Chen, S. Fei, K. Zhang, Z. Fu, Control synthesis of discrete-time switched linear systems with input saturation based on minimum dwell time approach. Circuits Syst. Signal Process. 31(2), 779\u2013795 (2012)","journal-title":"Circuits Syst. Signal Process."},{"key":"9682_CR8","first-page":"2111","volume":"40","author":"C.S. Chiu","year":"2004","unstructured":"C.S. Chiu, K.Y. Lian, T.C. Wu, Robust adaptive motion\/force tracking control design for uncertain constrained robot manipulators. Automatica 40, 2111\u20132119 (2004)","journal-title":"Automatica"},{"key":"9682_CR9","volume-title":"Adaptive Neural Network Control of Robotic Manipulators","author":"S.S. Ge","year":"1998","unstructured":"S.S. Ge, T.H. Lee, C.J. Harris, Adaptive Neural Network Control of Robotic Manipulators (World Scientific, London, 1998)"},{"key":"9682_CR10","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1016\/j.sysconle.2008.09.002","volume":"58","author":"T.T. Han","year":"2009","unstructured":"T.T. Han, S.S. Ge, T.T. Lee, Adaptive neural control for a class of switched nonlinear systems. Syst. Control Lett. 58, 109\u2013118 (2009)","journal-title":"Syst. Control Lett."},{"key":"9682_CR11","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1109\/TNN.2004.836241","volume":"16","author":"G.B. Huang","year":"2005","unstructured":"G.B. Huang, P. Saratchandran, N. Sundararajan, A generalized growing and pruning RBF (GGAP-RBF) neural network. IEEE Trans. Neural Netw. 16, 57\u201367 (2005)","journal-title":"IEEE Trans. Neural Netw."},{"issue":"3","key":"9682_CR12","doi-asserted-by":"crossref","first-page":"458","DOI":"10.1109\/TCST.2007.903088","volume":"16","author":"N.V. Hung","year":"2008","unstructured":"N.V. Hung, H.D. Tuan, T. Narikiyo, P. Apkarian, Adaptive control for nonlinearly parameterized uncertainties in robot manipulators. IEEE Trans. Control Syst. Technol. 16(3), 458\u2013468 (2008)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"5","key":"9682_CR13","doi-asserted-by":"crossref","first-page":"705","DOI":"10.1109\/70.326574","volume":"10","author":"J. Imura","year":"1994","unstructured":"J. Imura, T. Sugie, T. Yoshikawa, Adaptive robust control of robot manipulators-theory and experiment. IEEE Trans. Robot. Autom. 10(5), 705\u2013710 (1994)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9682_CR14","doi-asserted-by":"crossref","first-page":"423","DOI":"10.1109\/70.246053","volume":"9","author":"D. Jeon","year":"1996","unstructured":"D. Jeon, M. Tomizuka, Learning hybrid force and position control of robot manipulators. IEEE Trans. Robot. Autom. 9, 423\u2013431 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9682_CR15","volume-title":"Control of Robot Manipulators","author":"F.L. Lewis","year":"1993","unstructured":"F.L. Lewis, C.T. Abdallah, D.M. Dawson, Control of Robot Manipulators (Macmillan, New York, 1993)"},{"key":"9682_CR16","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4612-0017-8","volume-title":"Switching in Systems and Control","author":"D. Liberzon","year":"2003","unstructured":"D. Liberzon, Switching in Systems and Control (Birkhauser, Boston, 2003)"},{"issue":"3","key":"9682_CR17","doi-asserted-by":"crossref","first-page":"1191","DOI":"10.1007\/s00034-011-9361-2","volume":"31","author":"J. Lin","year":"2012","unstructured":"J. Lin, S. Fei, Q. Wu, Reliable H \u221e filtering for discrete-time switched singular systems with time-varying delay. Circuits Syst. Signal Process. 31(3), 1191\u20131214 (2012)","journal-title":"Circuits Syst. Signal Process."},{"key":"9682_CR18","doi-asserted-by":"crossref","first-page":"1741","DOI":"10.1016\/j.neucom.2007.11.015","volume":"71","author":"F. Long","year":"2008","unstructured":"F. Long, S. Fei, Neural networks stabilization and disturbance attenuation for nonlinear switched impulsive systems. Neurocomputing 71, 1741\u20131747 (2008)","journal-title":"Neurocomputing"},{"issue":"5","key":"9682_CR19","doi-asserted-by":"crossref","first-page":"1285","DOI":"10.1109\/TAC.2012.2191835","volume":"57","author":"L.J. Long","year":"2012","unstructured":"L.J. Long, J. Zhao, Control of switched nonlinear systems in p-normal form using multiple Lyapunov functions. IEEE Trans. Autom. Control 57(5), 1285\u20131291 (2012)","journal-title":"IEEE Trans. Autom. Control"},{"key":"9682_CR20","doi-asserted-by":"crossref","first-page":"2789","DOI":"10.1016\/j.eswa.2007.05.030","volume":"34","author":"S. Purwar","year":"2008","unstructured":"S. Purwar, I.N. Kar, A.N. Jha, Adaptive output feedback tracking control of robot manipulators using position measurements only. Expert Syst. Appl. 34, 2789\u20132798 (2008)","journal-title":"Expert Syst. Appl."},{"issue":"11","key":"9682_CR21","first-page":"125","volume":"225","author":"X. Su","year":"2011","unstructured":"X. Su, Z. Li, Y. Feng, New global exponential stability criteria for interval delayed neural networks. Proc of the institution of mechanical engineers part I. J. Syst. Control Eng. 225(11), 125\u2013136 (2011)","journal-title":"J. Syst. Control Eng."},{"key":"9682_CR22","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/j.automatica.2004.09.015","volume":"41","author":"Z.D. Sun","year":"2005","unstructured":"Z.D. Sun, S.S. Ge, Analysis and synthesis of switched linear control systems. Automatica 41, 181\u2013195 (2005)","journal-title":"Automatica"},{"key":"9682_CR23","doi-asserted-by":"crossref","first-page":"2377","DOI":"10.1016\/j.neucom.2011.03.015","volume":"74","author":"T. Sun","year":"2011","unstructured":"T. Sun, H. Pei, Y. Pan et al., Neural network-based sliding mode adaptive control for robot manipulators. Neurocomputing 74, 2377\u20132384 (2011)","journal-title":"Neurocomputing"},{"issue":"9","key":"9682_CR24","doi-asserted-by":"crossref","first-page":"3889","DOI":"10.1109\/TIE.2012.2206340","volume":"60","author":"W. Sun","year":"2012","unstructured":"W. Sun, Z. Zhao, H. Gao, Saturated adaptive robust control of active suspension systems. IEEE Trans. Ind. Electron. 60(9), 3889\u20133896 (2012)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"3","key":"9682_CR25","doi-asserted-by":"crossref","first-page":"1072","DOI":"10.1109\/TMECH.2012.2204765","volume":"18","author":"W. Sun","year":"2013","unstructured":"W. Sun, H. Gao, O. Kaynak, Adaptive backstepping control for active suspension systems with hard constraints. IEEE Trans. Mechatron. 18(3), 1072\u20131079 (2013)","journal-title":"IEEE Trans. Mechatron."},{"issue":"11","key":"9682_CR26","doi-asserted-by":"crossref","first-page":"2164","DOI":"10.1109\/9.887661","volume":"45","author":"P. Tomei","year":"2000","unstructured":"P. Tomei, Robust adaptive friction compensation for tracking control of robot manipulators. IEEE Trans. Autom. Control 45(11), 2164\u20132169 (2000)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"9682_CR27","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1109\/9.664154","volume":"43","author":"C. Tomlin","year":"1998","unstructured":"C. Tomlin, G.J. Pappas, S. Sastry, Conflict resolution for air traffic management: a study in multi-agent hybrid systems. IEEE Trans. Autom. Control 43(4), 509\u2013521 (1998)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"9","key":"9682_CR28","first-page":"6429","volume":"8","author":"A. Turnip","year":"2012","unstructured":"A. Turnip, K. Hong, Classifying mental activities from eeg-p300 signals using adaptive neural networks. Int. J. Innov. Comput. Inf. Control 8(9), 6429\u20136443 (2012)","journal-title":"Int. J. Innov. Comput. Inf. Control"},{"issue":"2","key":"9682_CR29","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1109\/9.250509","volume":"38","author":"P.P. Varaiya","year":"1993","unstructured":"P.P. Varaiya, Smart car on smart roads: problems of control. IEEE Trans. Autom. Control 38(2), 195\u2013207 (1993)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"9","key":"9682_CR30","doi-asserted-by":"crossref","first-page":"3296","DOI":"10.1109\/TIE.2008.2011350","volume":"56","author":"L. Wang","year":"2009","unstructured":"L. Wang, T. Chai, Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics. IEEE Trans. Ind. Electron. 56(9), 3296\u20133304 (2009)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"4","key":"9682_CR31","doi-asserted-by":"crossref","first-page":"1073","DOI":"10.1109\/TCST.2011.2147316","volume":"20","author":"L. Wang","year":"2012","unstructured":"L. Wang, T. Chai, C. Yang, Neural-network-based contouring control for robotic manipulators in operational space. IEEE Trans. Control Syst. Technol. 20(4), 1073\u20131080 (2012)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"8","key":"9682_CR32","first-page":"5559","volume":"8","author":"L. Wei","year":"2012","unstructured":"L. Wei, C. Cheng, A hybrid recurrent neural networks model based on synthesis features to forecast the Taiwan stock market. Int. J. Innov. Comput. Inf. Control 8(8), 5559\u20135571 (2012)","journal-title":"Int. J. Innov. Comput. Inf. Control"},{"issue":"9","key":"9682_CR33","doi-asserted-by":"crossref","first-page":"1396","DOI":"10.1109\/TNN.2010.2056383","volume":"21","author":"L. Wu","year":"2010","unstructured":"L. Wu, Z. Feng, W. Zheng, Exponential stability analysis for delayed neural networks with switching parameters: average dwell time approach. IEEE Trans. Neural Netw. 21(9), 1396\u20131407 (2010)","journal-title":"IEEE Trans. Neural Netw."},{"issue":"1","key":"9682_CR34","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1007\/s00034-010-9210-8","volume":"30","author":"Z. Xiang","year":"2011","unstructured":"Z. Xiang, R. Wang, B. Jiang, Nonfragile observer for discrete-time switched nonlinear systems with time delay. Circuits Syst. Signal Process. 30(1), 73\u201387 (2011)","journal-title":"Circuits Syst. Signal Process."},{"key":"9682_CR35","doi-asserted-by":"crossref","first-page":"2141","DOI":"10.1016\/j.automatica.2009.05.016","volume":"45","author":"G.M. Xie","year":"2009","unstructured":"G.M. Xie, L. Wang, Periodic stabilizability of switched linear control systems. Automatica 45, 2141\u20132148 (2009)","journal-title":"Automatica"},{"issue":"2","key":"9682_CR36","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1109\/TSMCB.2008.2006860","volume":"39","author":"R. Yang","year":"2009","unstructured":"R. Yang, H. Gao, P. Shi, Novel robust stability criteria for stochastic Hopfield neural networks with time delays. IEEE Trans. Syst. Man Cybern., Part B 39(2), 467\u2013474 (2009)","journal-title":"IEEE Trans. Syst. Man Cybern., Part B"},{"key":"9682_CR37","doi-asserted-by":"crossref","first-page":"1355","DOI":"10.1016\/S0005-1098(00)00045-5","volume":"36","author":"H.K. Young","year":"2000","unstructured":"H.K. Young, L.L. Frank, M.D. Darren, Intelligent optimal control of robotic manipulators using neural networks. Automatica 36, 1355\u20131364 (2000)","journal-title":"Automatica"},{"issue":"2","key":"9682_CR38","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1007\/s12555-012-0224-9","volume":"10","author":"L. Yu","year":"2012","unstructured":"L. Yu, S. Fei, X. Li, RBF neural networks-based robust adaptive tracking control for switched uncertain nonlinear systems. Int. J. Control. Autom. Syst. 10(2), 437\u2013443 (2012)","journal-title":"Int. J. Control. Autom. Syst."},{"issue":"5","key":"9682_CR39","doi-asserted-by":"crossref","first-page":"827","DOI":"10.1109\/TNNLS.2012.2186824","volume":"23","author":"D. Zhang","year":"2012","unstructured":"D. Zhang, L. Yu, Q.G. Wang et al., Estimator design for discrete-time switched neural networks with asynchronous switching and time-varying delay. IEEE Trans. Neural Netw. Learn. Syst. 23(5), 827\u2013834 (2012)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"1","key":"9682_CR40","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1007\/s00034-010-9204-6","volume":"30","author":"G.D. Zong","year":"2011","unstructured":"G.D. Zong, L.L. Hou, Y.Q. Wu, Robust L2-L\u221e guaranteed cost filtering for uncertain discrete-time switched system with mode-dependent time-varying delays. Circuits Syst. Signal Process. 30(1), 17\u201333 (2011)","journal-title":"Circuits Syst. Signal Process."}],"container-title":["Circuits, Systems, and Signal Processing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00034-013-9682-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00034-013-9682-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00034-013-9682-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,22]],"date-time":"2019-05-22T11:01:42Z","timestamp":1558522902000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00034-013-9682-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,11,6]]},"references-count":40,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2014,4]]}},"alternative-id":["9682"],"URL":"https:\/\/doi.org\/10.1007\/s00034-013-9682-4","relation":{},"ISSN":["0278-081X","1531-5878"],"issn-type":[{"value":"0278-081X","type":"print"},{"value":"1531-5878","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,11,6]]}}}