{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:16:56Z","timestamp":1767665816260},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2013,9,21]],"date-time":"2013-09-21T00:00:00Z","timestamp":1379721600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,9]]},"DOI":"10.1007\/s10846-013-9888-5","type":"journal-article","created":{"date-parts":[[2013,9,20]],"date-time":"2013-09-20T16:43:49Z","timestamp":1379695429000},"page":"363-377","source":"Crossref","is-referenced-by-count":63,"title":["Adaptive Neural Network Finite-Time Control for Uncertain Robotic Manipulators"],"prefix":"10.1007","volume":"75","author":[{"given":"Haitao","family":"Liu","sequence":"first","affiliation":[]},{"given":"Tie","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,9,21]]},"reference":[{"key":"9888_CR1","unstructured":"Bhat, S.P., Bernstein, D.S.: Lyapunov analysis of finite-time differential equations. In: Proceedings of the American Control Conference 1995, vol. 1833, pp. 1831\u20131832 (1995). 21\u201323 Jun 1995"},{"key":"9888_CR2","unstructured":"Bhat, S.P., Bernstein, D.S.: Finite-time stability of homogeneous systems. In: Proceedings of the American Control Conference 1997, vol. 2514, pp. 2513\u20132514 (1997). 4\u20136 Jun 1997"},{"issue":"5","key":"9888_CR3","doi-asserted-by":"crossref","first-page":"678","DOI":"10.1109\/9.668834","volume":"43","author":"SP Bhat","year":"1998","unstructured":"Bhat, S.P., Bernstein, D.S.: Continuous finite-time stabilization of the translational and rotational double integrators. IEEE Trans. Autom. Control 43(5), 678\u2013682 (1998)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"9888_CR4","doi-asserted-by":"crossref","first-page":"751","DOI":"10.1137\/S0363012997321358","volume":"38","author":"SP Bhat","year":"2000","unstructured":"Bhat, S.P., Bernstein, D.S.: Finite-time stability of continuous autonomous systems. SIAM J. Control Optim. 38(3), 751\u2013766 (2000)","journal-title":"SIAM J. Control Optim."},{"issue":"2","key":"9888_CR5","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1007\/s00498-005-0151-x","volume":"17","author":"SP Bhat","year":"2005","unstructured":"Bhat, S.P., Bernstein, D.S.: Geometric homogeneity with applications to finite-time stability. Math. Control Signal 17(2), 101\u2013127 (2005). doi: 10.1007\/s00498-005-0151-x","journal-title":"Math. Control Signal"},{"issue":"12","key":"9888_CR6","doi-asserted-by":"crossref","first-page":"1950","DOI":"10.1109\/TAC.2006.886515","volume":"51","author":"H Yiguang","year":"2006","unstructured":"Yiguang, H., Zhong-Ping, J.: Finite-time stabilization of nonlinear systems with parametric and dynamic uncertainties. IEEE Trans. Autom. Control 51(12), 1950\u20131956 (2006)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"9888_CR7","doi-asserted-by":"crossref","first-page":"499","DOI":"10.1016\/j.automatica.2011.07.014","volume":"48","author":"X Zhang","year":"2012","unstructured":"Zhang, X., Feng, G., Sun, Y.: Finite-time stabilization by state feedback control for a class of time-varying nonlinear systems. Automatica 48(3), 499\u2013504 (2012). doi: 10.1016\/j.automatica.2011.07.014","journal-title":"Automatica"},{"issue":"5","key":"9888_CR8","doi-asserted-by":"crossref","first-page":"881","DOI":"10.1016\/j.automatica.2004.11.036","volume":"41","author":"X Huang","year":"2005","unstructured":"Huang, X., Lin, W., Yang, B.: Global finite-time stabilization of a class of uncertain nonlinear systems. Automatica 41(5), 881\u2013888 (2005). doi: 10.1016\/j.automatica.2004.11.036","journal-title":"Automatica"},{"issue":"5","key":"9888_CR9","doi-asserted-by":"crossref","first-page":"879","DOI":"10.1109\/TAC.2006.874991","volume":"51","author":"L Ji","year":"2006","unstructured":"Ji, L., Chunjiang, Q.: Global finite-time stabilization by dynamic output feedback for a class of continuous nonlinear systems. IEEE Trans. Autom. Control 51(5), 879\u2013884 (2006)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"9888_CR10","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/S0167-6911(02)00130-5","volume":"46","author":"Y Hong","year":"2002","unstructured":"Hong, Y., Xu, Y., Huang, J.: Finite-time control for robot manipulators. Syst. Control Lett. 46(4), 243\u2013253 (2002)","journal-title":"Syst. Control Lett."},{"issue":"17","key":"9888_CR11","doi-asserted-by":"crossref","first-page":"1871","DOI":"10.1002\/rnc.1406","volume":"19","author":"Y Su","year":"2009","unstructured":"Su, Y.: Global continuous finite-time tracking of robot manipulators. Int. J. Robust Nonlinear Cont. 19(17), 1871\u20131885 (2009). doi: 10.1002\/rnc.1406","journal-title":"Int. J. Robust Nonlinear Cont."},{"issue":"1","key":"9888_CR12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1049\/iet-cta.2008.0014","volume":"4","author":"D Zhao","year":"2010","unstructured":"Zhao, D., Li, S., Zhu, Q., Gao, F.: Robust finite-time control approach for robotic manipulators. IET Cont. Theor. Appl. 4(1), 1\u201315 (2010)","journal-title":"IET Cont. Theor. Appl."},{"issue":"3","key":"9888_CR13","doi-asserted-by":"crossref","first-page":"550","DOI":"10.1016\/j.rcim.2010.09.010","volume":"27","author":"Y Su","year":"2011","unstructured":"Su, Y., Zheng, C.: Global finite-time inverse tracking control of robot manipulators. Robot. Comput. Integr. Manuf. 27(3), 550\u2013557 (2011). doi: 10.1016\/j.rcim.2010.09.010","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"8","key":"9888_CR14","first-page":"5045","volume":"7","author":"J Jesus Rubio de","year":"2011","unstructured":"de Jesus Rubio, J., Torres, C., Aguilar, C.: Optimal control based in a mathematical model applied to robotic arms. Int. J. Innov. Comp. Inform. Control 7(8), 5045\u20135062 (2011)","journal-title":"Int. J. Innov. Comp. Inform. Control"},{"key":"9888_CR15","doi-asserted-by":"crossref","unstructured":"Torres, C., Jes\u00fas Rubio, J., Aguilar-Ib\u00e1\u00f1ez, C., P\u00e9rez-Cruz, J.H.: Stable optimal control applied to a cylindrical robotic arm. Neural Comput. Appl. 1\u20138 (2012). doi: 10.1007\/s00521-012-1294-6","DOI":"10.1007\/s00521-012-1294-6"},{"issue":"6","key":"9888_CR16","doi-asserted-by":"crossref","first-page":"61007","DOI":"10.1115\/1.4006626","volume":"134","author":"H Liu","year":"2012","unstructured":"Liu, H., Zhang, T.: Fuzzy sliding mode control of robotic manipulators with kinematic and dynamic uncertainties. J. Dyn. Syst. Meas. Control 134(6), 061007 (2012)","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"11","key":"9888_CR17","doi-asserted-by":"crossref","first-page":"1957","DOI":"10.1016\/j.automatica.2005.07.001","volume":"41","author":"S Yu","year":"2005","unstructured":"Yu, S., Yu, X., Shirinzadeh, B., Man, Z.: Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 41(11), 1957\u20131964 (2005). doi: 10.1016\/j.automatica.2005.07.001","journal-title":"Automatica"},{"issue":"10","key":"9888_CR18","first-page":"4513","volume":"6","author":"J Jesus Rubio","year":"2010","unstructured":"Jesus Rubio, J., Soriano, L.A.: An asymptotic stable proportional derivative control with sliding mode gravity compensation and with a high gain observer for robotic arms. Int. J. Innov. Comp. Inform. Control 6(10), 4513\u20134526 (2010)","journal-title":"Int. J. Innov. Comp. Inform. Control"},{"issue":"6","key":"9888_CR19","doi-asserted-by":"crossref","first-page":"1296","DOI":"10.1109\/TFUZZ.2009.2029569","volume":"17","author":"J Jesus Rubio de","year":"2009","unstructured":"de Jesus Rubio, J.: SOFMLS: online self-organizing fuzzy modified least-squares network. IEEE Trans. Fuzzy Syst. 17(6), 1296\u20131309 (2009). doi: 10.1109\/tfuzz.2009.2029569","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"2","key":"9888_CR20","doi-asserted-by":"crossref","first-page":"2735","DOI":"10.1016\/j.asoc.2010.11.004","volume":"11","author":"C-W Chen","year":"2011","unstructured":"Chen, C.-W.: Stability analysis and robustness design of nonlinear systems: an NN-based approach. Appl. Soft Comput. 11(2), 2735\u20132742 (2011) doi: 10.1016\/j.asoc.2010.11.004","journal-title":"Appl. Soft Comput."},{"issue":"6","key":"9888_CR21","doi-asserted-by":"crossref","first-page":"785","DOI":"10.1177\/1077546311407538","volume":"18","author":"K Yeh","year":"2012","unstructured":"Yeh, K., Chen, C.-W., Lo, D., Liu, K.F.: Neural-network fuzzy control for chaotic tuned mass damper systems with time delays. J. Vib. Control 18(6), 785\u2013795 (2012). doi: 10.1177\/1077546311407538","journal-title":"J. Vib. Control"},{"issue":"4","key":"9888_CR22","doi-asserted-by":"crossref","first-page":"1620","DOI":"10.1016\/j.asoc.2012.12.028","volume":"13","author":"C-F Hsu","year":"2013","unstructured":"Hsu, C.-F., Lin, C.-M., Yeh, R.-G.: Supervisory adaptive dynamic RBF-based neural-fuzzy control system design for unknown nonlinear systems. Appl. Softw. Comput. 13(4), 1620\u20131626 (2013). doi: 10.1016\/j.asoc.2012.12.028","journal-title":"Appl. Softw. Comput."},{"key":"9888_CR23","first-page":"18","volume":"2012","author":"JH Perez-Cruz","year":"2012","unstructured":"Perez-Cruz, J.H., Rubio, J.D.J., Ruiz-Velzquez, E., Solis-Perales, G.: Tracking control based on recurrent neural networks for nonlinear systems with multiple inputs and unknown deadzone. Abstr. Appl. Anal. 2012, 18. (2012). doi: 10.1155\/2012\/471281","journal-title":"Abstr. Appl. Anal."},{"key":"9888_CR24","doi-asserted-by":"crossref","unstructured":"P\u00e9rez-Cruz, J.H., Ruiz-Vel\u00e1zquez, E., Rubio, J.D.J., Padilla, C.A.D.A.: Robust adaptive neurocontrol of siso nonlinear systems preceded by unknown deadzone. Math. Probl. Eng. 2012, 23 (2012). doi: 10.1155\/2012\/342739","DOI":"10.1155\/2012\/342739"},{"issue":"4\u20136","key":"9888_CR25","doi-asserted-by":"crossref","first-page":"885","DOI":"10.1016\/j.neucom.2007.02.012","volume":"71","author":"SN Huang","year":"2008","unstructured":"Huang, S.N., Tan, K.K., Lee, T.H.: Adaptive neural network algorithm for control design of rigid-link electrically driven robots. Neurocomputing 71(4\u20136), 885\u2013894 (2008). doi: 10.1016\/j.neucom.2007.02.012","journal-title":"Neurocomputing"},{"issue":"4","key":"9888_CR26","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1007\/s11071-010-9902-4","volume":"65","author":"J Peng","year":"2011","unstructured":"Peng, J., Wang, J., Wang, Y.: Neural network based robust hybrid control for robotic system: an Hinf approach. Nonlinear Dyn. 65(4), 421\u2013431 (2011). doi: 10.1007\/s11071-010-9902-4","journal-title":"Nonlinear Dyn."},{"issue":"14\u201315","key":"9888_CR27","doi-asserted-by":"crossref","first-page":"2377","DOI":"10.1016\/j.neucom.2011.03.015","volume":"74","author":"T Sun","year":"2011","unstructured":"Sun, T., Pei, H., Pan, Y., Zhou, H., Zhang, C.: Neural network-based sliding mode adaptive control for robot manipulators. Neurocomputing 74(14\u201315), 2377\u20132384 (2011). doi: 10.1016\/j.neucom.2011.03.015","journal-title":"Neurocomputing"},{"issue":"7","key":"9888_CR28","doi-asserted-by":"crossref","first-page":"1823","DOI":"10.1016\/j.apm.2009.09.026","volume":"34","author":"Y Zuo","year":"2010","unstructured":"Zuo, Y., Wang, Y., Liu, X., Yang, S.X., Huang, L., Wu, X., Wang, Z.: Neural network robust $\\textrm{H}_{\\infty} $ tracking control strategy for robot manipulators. Appl. Math. Model. 34(7), 1823\u20131838 (2010)","journal-title":"Appl. Math. Model."},{"issue":"14","key":"9888_CR29","doi-asserted-by":"crossref","first-page":"2216","DOI":"10.1049\/iet-cta.2011.0322","volume":"6","author":"J Rubio","year":"2012","unstructured":"Rubio, J.: Modified optimal control with a back propagation network for robotic arms. IET Control Theory Appl. 6(14), 2216\u20132225 (2012)","journal-title":"IET Control Theory Appl."},{"issue":"9","key":"9888_CR30","doi-asserted-by":"crossref","first-page":"3296","DOI":"10.1109\/TIE.2008.2011350","volume":"56","author":"LY Wang","year":"2009","unstructured":"Wang, L.Y., Chai, T.Y., Zhai, L.F.: Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics. IEEE Trans. Ind. Electron. 56(9), 3296\u20133304 (2009). doi: 10.1109\/tie.2008.2011350","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"2","key":"9888_CR31","doi-asserted-by":"crossref","first-page":"301","DOI":"10.1016\/j.rcim.2012.09.002","volume":"29","author":"H Liu","year":"2013","unstructured":"Liu, H., Zhang, T.: Neural network-based robust finite-time control for robotic manipulators considering actuator dynamics. Robot. Comput. Integr. Manuf. 29(2), 301\u2013308 (2013). doi: 10.1016\/j.rcim.2012.09.002","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"4","key":"9888_CR32","doi-asserted-by":"crossref","first-page":"760","DOI":"10.1137\/0324047","volume":"24","author":"VT Haimo","year":"1986","unstructured":"Haimo, V.T.: Finite time controllers. SIAM J. Control. Optim. 24(4), 760\u2013770 (1986). doi: 10.1137\/0324047","journal-title":"SIAM J. Control. Optim."},{"issue":"4","key":"9888_CR33","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1080\/00207170600566188","volume":"79","author":"J Jes\u00fas Rubio De","year":"2006","unstructured":"De Jes\u00fas Rubio, J., Yu, W.: A new discrete-time sliding-mode control with time-varying gain and neural identification. Int. J. Control 79(4), 338\u2013348 (2006). doi: 10.1080\/00207170600566188","journal-title":"Int. J. Control"},{"key":"9888_CR34","doi-asserted-by":"crossref","unstructured":"Rodr\u00edguez, F., Jes\u00fas Rubio, J., Gaspar, C.M., Tovar, J., Armend\u00e1riz, M.M.: Hierarchical fuzzy CMAC control for nonlinear systems. Neural Comput. Appl. 1\u20139 (2013). doi: 10.1007\/s00521-013-1423-x","DOI":"10.1007\/s00521-013-1423-x"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9888-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9888-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9888-5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T02:20:38Z","timestamp":1559269238000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9888-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,9,21]]},"references-count":34,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2014,9]]}},"alternative-id":["9888"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9888-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,9,21]]}}}