{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T23:08:42Z","timestamp":1785798522135,"version":"3.56.0"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1007\/s10846-023-01914-2","type":"journal-article","created":{"date-parts":[[2023,8,10]],"date-time":"2023-08-10T09:02:19Z","timestamp":1691658139000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Practical Model-Based Robust Control for the Modular Joint of Collaborative Robots"],"prefix":"10.1007","volume":"108","author":[{"given":"ShengChao","family":"Zhen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yangyang","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7479-4251","authenticated-orcid":false,"given":"XiaoLi","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ye-Hwa","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,8,10]]},"reference":[{"key":"1914_CR1","doi-asserted-by":"publisher","first-page":"86","DOI":"10.1016\/j.actaastro.2014.01.017","volume":"98","author":"J Zhao","year":"2014","unstructured":"Zhao, J., Yan, S., Wu, J.: Analysis of parameter sensitivity of space manipulator with harmonic drive based on the revised response surface method. Acta Astronaut. 98, 86\u201396 (2014). https:\/\/doi.org\/10.1016\/j.actaastro.2014.01.017","journal-title":"Acta Astronaut."},{"key":"1914_CR2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2021.104832","volume":"112","author":"Z Ping","year":"2021","unstructured":"Ping, Z., Li, Y., Song, Y., Huang, Y., Wang, H., Lu, J.G.: Nonlinear speed tracking control of pmsm servo system: A global robust output regulation approach. Control Eng. Pract. 112, 104832 (2021). https:\/\/doi.org\/10.1016\/j.conengprac.2021.104832","journal-title":"Control Eng. Pract."},{"key":"1914_CR3","doi-asserted-by":"publisher","unstructured":"Corless, M.: Control of Uncertain Nonlinear Systems. J. Dyn. Syst. Meas. Control 115(2B), 362\u2013372 (1993). https:\/\/arxiv.org\/abs\/https:\/\/asmedigitalcollection.asme.org\/dynamicsystems\/article-pdf\/115\/2B\/362\/5546667\/3621.pdf. https:\/\/doi.org\/10.1115\/1.2899076","DOI":"10.1115\/1.2899076"},{"key":"1914_CR4","doi-asserted-by":"crossref","unstructured":"Ciabattoni, L., Corradini, M.L., Grisostomi, M., Ippoliti, G., Longhi, S., Orlando, G.: In: Vaidyanathan, S., Volos, C. (eds.) Variable Structure Sensorless Control of PMSM Drives, pp. 505\u2013530. Springer, Cham (2016)","DOI":"10.1007\/978-3-319-30169-3_22"},{"issue":"4","key":"1914_CR5","doi-asserted-by":"publisher","first-page":"559","DOI":"10.1109\/TCST.2005.847331","volume":"13","author":"KH Ang","year":"2005","unstructured":"Ang, K.H., Chong, G., Li, Y.: Pid control system analysis, design, and technology. IEEE Trans. Control Syst. Technol. 13(4), 559\u2013576 (2005). https:\/\/doi.org\/10.1109\/TCST.2005.847331","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"1914_CR6","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2020.577749","volume":"14","author":"LA Soriano","year":"2020","unstructured":"Soriano, L.A., Zamora, E., Vazquez-Nicolas, J.M., Hern\u00e1ndez, G., Balderas, D.: Pd control compensation based on a cascade neural network applied to a robot manipulator. Front. Neurorobotics 14, 577749 (2020). https:\/\/doi.org\/10.3389\/fnbot.2020.577749","journal-title":"Front. Neurorobotics"},{"key":"1914_CR7","doi-asserted-by":"publisher","unstructured":"Silva-Ortigoza, R., Hern\u00e1ndez-M\u00e1rquez, E., Rold\u00e1n-Caballero, A., Tavera-Mosqueda, S., Marciano-Melchor, M., Garc\u00eda-S\u00e1nchez, J.R., Hern\u00e1ndez-Guzm\u00e1n, V.M., Silva-Ortigoza, G.: Sensorless tracking control for a \u201cfull-bridge buck inverter-dc motor\u201d system: Passivity and flatnessbased design. IEEE Access 9, 132191\u2013132204 (2021). https:\/\/doi.org\/10.1109\/ACCESS.2021.3112575","DOI":"10.1109\/ACCESS.2021.3112575"},{"key":"1914_CR8","doi-asserted-by":"publisher","first-page":"414","DOI":"10.1016\/j.ymssp.2015.09.017","volume":"70\u201371","author":"C Hu","year":"2016","unstructured":"Hu, C., Jing, H., Wang, R., Yan, F., Chadli, M.: Robust H$$_{\\infty }$$ outputfeedback control for path following of autonomous ground vehicles. Mech. Syst. Signal Process. 70\u201371, 414\u2013427 (2016). https:\/\/doi.org\/10.1016\/j.ymssp.2015.09.017","journal-title":"Mech. Syst. Signal Process."},{"issue":"2","key":"1914_CR9","doi-asserted-by":"publisher","first-page":"476","DOI":"10.1109\/TIA.2006.889904","volume":"43","author":"A Rubaai","year":"2007","unstructured":"Rubaai, A., Ofoli, A.R., Cobbinah, D.: Dsp-based real-time implementation of a hybrid $$h{\\infty }$$ adaptive fuzzy tracking controller for servo-motor drives. IEEE Trans. Ind. Appl. 43(2), 476\u2013484 (2007). https:\/\/doi.org\/10.1109\/TIA.2006.889904","journal-title":"IEEE Trans. Ind. Appl."},{"key":"1914_CR10","doi-asserted-by":"publisher","first-page":"36711","DOI":"10.1109\/ACCESS.2018.2851284","volume":"6","author":"PJ Ko","year":"2018","unstructured":"Ko, P.J., Tsai, M.C.: H$$_{\\infty }$$ control design of pid-like controller for speed drive systems. IEEE Access 6, 36711\u201336722 (2018). https:\/\/doi.org\/10.1109\/ACCESS.2018.2851284","journal-title":"IEEE Access"},{"issue":"3","key":"1914_CR11","doi-asserted-by":"publisher","first-page":"997","DOI":"10.1109\/TFUZZ.2022.3193451","volume":"31","author":"E Lughofer","year":"2023","unstructured":"Lughofer, E., Skrjanc, I.: Evolving error feedback fuzzy model for improved robustness under measurement noise. IEEE Trans. Fuzzy Syst. 31(3), 997\u20131008 (2023). https:\/\/doi.org\/10.1109\/TFUZZ.2022.3193451","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"1914_CR12","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1007\/s10846-020-01178-0","volume":"100","author":"MR Soltanpour","year":"2020","unstructured":"Soltanpour, M.R., Zaare, S., Haghgoo, M., Moattari, M.: Free-chattering fuzzy sliding mode control of robot manipulators with joints flexibility in presence of matched and mismatched uncertainties in model dynamic and actuators. J. Intell. Robot. Syst. 100, 47\u201369 (2020). https:\/\/doi.org\/10.1007\/s10846-020-01178-0","journal-title":"J. Intell. Robot. Syst."},{"key":"1914_CR13","doi-asserted-by":"publisher","unstructured":"Meda-Campa\u00f1a, J.A., A. Rodr\u00edguez-Manzanarez, R., Ontiveros-Paredes, S.D., Rubio, J.d.J., Tapia-Herrera, R., Hern\u00e1ndez-Cort\u00e9s, T., Obreg\u00f3n- Pulido, G., Aguilar-Ib\u00e1\u00a0nez, C.: An algebraic fuzzy pole placement approach to stabilize nonlinear mechanical systems. IEEE Trans. Fuzzy Syst. 30(8), 3322\u20133332 (2022). https:\/\/doi.org\/10.1109\/TFUZZ.2021.3113560","DOI":"10.1109\/TFUZZ.2021.3113560"},{"issue":"2","key":"1914_CR14","doi-asserted-by":"publisher","first-page":"600","DOI":"10.1109\/TIE.2010.2045995","volume":"58","author":"CJ Fallaha","year":"2011","unstructured":"Fallaha, C.J., Saad, M., Kanaan, H.Y., Al-Haddad, K.: Sliding-mode robot control with exponential reaching law. IEEE Trans. Ind. Electron. 58(2), 600\u2013610 (2011). https:\/\/doi.org\/10.1109\/TIE.2010.2045995","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1914_CR15","doi-asserted-by":"publisher","unstructured":"Balcazar, R., Rubio, J.d.J., Orozco, E., Andres Cordova, D., Ochoa, G., Garcia, E., Pacheco, J., Gutierrez, G.J., Mujica-Vargas, D., Aguilar-Iba\u00f1ez, C.: The regulation of an electric oven and an inverted pendulum. Symmetry 14(4) (2022). https:\/\/doi.org\/10.3390\/sym14040759","DOI":"10.3390\/sym14040759"},{"key":"1914_CR16","doi-asserted-by":"publisher","first-page":"3366","DOI":"10.1109\/ACCESS.2021.3140160","volume":"10","author":"JDJ Rubio","year":"2022","unstructured":"Rubio, J.D.J., Orozco, E., Cordova, D.A., Islas, M.A., Pacheco, J., Gutierrez, G.J., Zacarias, A., Soriano, L.A., Meda-Campa\u00f1a, J.A., Mujica-Vargas, D.: Modified linear technique for the controllability and observability of robotic arms. IEEE Access 10, 3366\u20133377 (2022). https:\/\/doi.org\/10.1109\/ACCESS.2021.3140160","journal-title":"IEEE Access"},{"key":"1914_CR17","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1016\/j.rcim.2016.08.007","volume":"44","author":"N Nikdel","year":"2017","unstructured":"Nikdel, N., Badamchizadeh, M.A., Azimirad, V., Nazari, M.A.: Adaptive backstepping control for an n-degree of freedom robotic manipulator based on combined state augmentation. Robot. Comput. Integr. Manuf. 44, 129\u2013143 (2017). https:\/\/doi.org\/10.1016\/j.rcim.2016.08.007","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"1914_CR18","doi-asserted-by":"publisher","unstructured":"Wu, X., Jin, P., Zou, T., Qi, Z., Xiao, H., Lou, P.: Backstepping trajectory tracking based on fuzzy sliding mode control for differential mobile robots. J. Intell. Robot. Syst. 96, 109\u2013121 (2019). https:\/\/doi.org\/10.1007\/s10846-019-00980-9","DOI":"10.1007\/s10846-019-00980-9"},{"key":"1914_CR19","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1016\/j.robot.2017.06.012","volume":"96","author":"NN Son","year":"2017","unstructured":"Son, N.N., Kien, C.V., Anh, H.P.H.: A novel adaptive feed-forwardpid controller of a scara parallel robot using pneumatic artificial muscle actuator based on neural network and modified differential evolution algorithm. Rob. Auton. Syst. 96, 65\u201380 (2017). https:\/\/doi.org\/10.1016\/j.robot.2017.06.012","journal-title":"Rob. Auton. Syst."},{"key":"1914_CR20","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1023\/A:1007945911032","volume":"20","author":"S Tzafestas","year":"1997","unstructured":"Tzafestas, S.: Robot adaptive and robust control. J. Intell. Robot. Syst. 20, 87\u201391 (1997). https:\/\/doi.org\/10.1023\/A:1007945911032","journal-title":"J. Intell. Robot. Syst."},{"key":"1914_CR21","doi-asserted-by":"publisher","first-page":"1265","DOI":"10.1007\/s10846-020-01260-7","volume":"100","author":"RB Anderson","year":"2020","unstructured":"Anderson, R.B., Marshall, J.A., L\u2019Afflitto, A., Dotterweich, J.M.: Model reference adaptive control of switched dynamical systems with applications to aerial robotics. J. Intell. Robot. Syst. 100, 1265\u20131281 (2020). https:\/\/doi.org\/10.1007\/s10846-020-01260-7","journal-title":"J. Intell. Robot. Syst."},{"key":"1914_CR22","doi-asserted-by":"publisher","first-page":"180361","DOI":"10.1109\/ACCESS.2019.2958569","volume":"7","author":"X Zhao","year":"2019","unstructured":"Zhao, X., Fu, D.: Adaptive neural network nonsingular fast terminal sliding mode control for permanent magnet linear synchronous motor. IEEE Access 7, 180361\u2013180372 (2019). https:\/\/doi.org\/10.1109\/ACCESS.2019.2958569","journal-title":"IEEE Access"},{"key":"1914_CR23","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1016\/j.conengprac.2019.01.019","volume":"85","author":"J Chen","year":"2019","unstructured":"Chen, J., Yao, W., Ren, Y., Wang, R., Zhang, L., Jiang, L.: Nonlinear adaptive speed control of a permanent magnet synchronous motor: A perturbation estimation approach. Control Eng. Pract. 85, 163\u2013175 (2019). https:\/\/doi.org\/10.1016\/j.conengprac.2019.01.019","journal-title":"Control Eng. Pract."},{"key":"1914_CR24","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1007\/s10846-018-0781-0","volume":"95","author":"CN Cho","year":"2019","unstructured":"Cho, C.N., Hong, J.T., Kim, H.J.: Neural network based adaptive actuator fault detection algorithm for robot manipulators. J. Intell. Robot. Syst. 95, 137\u2013147 (2019). https:\/\/doi.org\/10.1007\/s10846-018-0781-0","journal-title":"J. Intell. Robot. Syst."},{"key":"1914_CR25","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/BF00435721","volume":"15","author":"AS Morris","year":"1996","unstructured":"Morris, A.S., Khemaissia, S.: A neural network based adaptive robot controller. J. Intell. Robot. Syst. 15, 3\u201310 (1996). https:\/\/doi.org\/10.1007\/BF00435721","journal-title":"J. Intell. Robot. Syst."},{"issue":"6, SI","key":"1914_CR26","doi-asserted-by":"publisher","first-page":"1043","DOI":"10.1049\/iet-epa.2016.0819","volume":"11","author":"SY Chen","year":"2017","unstructured":"Chen, S.Y., Liu, T.S.: Intelligent tracking control of a PMLSM using self-evolving probabilistic fuzzy neural network. IET Electr. Power Appl. 11(6, SI), 1043\u20131054 (2017). https:\/\/doi.org\/10.1049\/iet-epa.2016.0819","journal-title":"IET Electr. Power Appl."},{"issue":"4","key":"1914_CR27","doi-asserted-by":"publisher","first-page":"179","DOI":"10.51537\/chaos.1184952","volume":"4","author":"S Jenhani","year":"2022","unstructured":"Jenhani, S., Gritli, H., Carbone, P.G.: Comparison between some nonlinear controllers for the position control of lagrangian-type robotic systems. Chaos Theor. Appl. 4(4), 179\u2013196 (2022). https:\/\/doi.org\/10.51537\/chaos.1184952","journal-title":"Chaos Theor. Appl."},{"issue":"4","key":"1914_CR28","doi-asserted-by":"publisher","first-page":"1785","DOI":"10.1007\/s11071-015-2485-3","volume":"83","author":"E Pennestr\u00ec","year":"2016","unstructured":"Pennestr\u00ec, E., Rossi, V., Salvini, P., Valentini, P.P.: Review and comparison of dry friction force models. Nonlinear Dyn. 83(4), 1785\u20131801 (2016). https:\/\/doi.org\/10.1007\/s11071-015-2485-3","journal-title":"Nonlinear Dyn."},{"issue":"3","key":"1914_CR29","doi-asserted-by":"publisher","first-page":"1407","DOI":"10.1007\/s11071-016-2999-3","volume":"86","author":"F Marques","year":"2016","unstructured":"Marques, F., Flores, P., Claro, J.P., Lankarani, H.M.: A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems. Nonlinear Dyn. 86(3), 1407\u20131443 (2016). https:\/\/doi.org\/10.1007\/s11071-016-2999-3","journal-title":"Nonlinear Dyn."},{"key":"1914_CR30","unstructured":"Slotine, J.J.E., Li, W.: In: Prentice-Hall (ed.) Applied Nonlinear Control, New Jersey, NJ, USA (1991)"},{"key":"1914_CR31","doi-asserted-by":"publisher","unstructured":"Chen, Y.H.: On the deterministic performance of uncertain dynamical systems. Int. J. Control 43(5), 1557\u20131579 (1986) https:\/\/arxiv.org\/abs\/https:\/\/doi.org\/10.1080\/00207178608933559. https:\/\/doi.org\/10.1080\/00207178608933559","DOI":"10.1080\/00207178608933559"},{"key":"1914_CR32","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1016\/j.ejcon.2020.04.004","volume":"57","author":"H Gritli","year":"2021","unstructured":"Gritli, H., Belghith, S.: Lmi-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints. Eur. J. Control 57, 179\u2013193 (2021). https:\/\/doi.org\/10.1016\/j.ejcon.2020.04.004","journal-title":"Eur. J. Control"},{"key":"1914_CR33","doi-asserted-by":"publisher","unstructured":"Gritli, H., Belghith, S.: Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: Lmi formulation. J. Franklin Inst. 355(18), 9150\u20139191 (2018). https:\/\/doi.org\/10.1016\/j.jfranklin.2017.01.035. Special Issue on Control and Signal Processing in Mechatronic Systems","DOI":"10.1016\/j.jfranklin.2017.01.035"},{"key":"1914_CR34","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2023.05.007","author":"M Antonio-Cruz","year":"2023","unstructured":"Antonio-Cruz, M., Hernandez-Guzman, V.M., Merlo-Zapata, C.A., Marquez-Sanchez, C.: Nonlinear control with friction compensation to swing-up a furuta pendulum. ISA Transactions (2023). https:\/\/doi.org\/10.1016\/j.isatra.2023.05.007","journal-title":"ISA Transactions"},{"key":"1914_CR35","doi-asserted-by":"publisher","unstructured":"Acu\u00f1a-Bravo, W., Molano-Jim\u00e9nez, A.G., Canuto, E.: Embedded model control for underactuated systems: An application to furuta pendulum. Control Eng. Pract. 113, 104854 (2021). https:\/\/doi.org\/10.1016\/j.conengprac.2021.104854","DOI":"10.1016\/j.conengprac.2021.104854"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01914-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01914-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01914-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,1]],"date-time":"2023-09-01T01:07:04Z","timestamp":1693530424000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01914-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":35,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["1914"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01914-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]},"assertion":[{"value":"2 January 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 June 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 August 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant fnancial or non-fnancial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}},{"value":"The research does not involve human participants, their data or biological material and it does not involve animals.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}}],"article-number":"81"}}