{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T16:12:42Z","timestamp":1774541562985,"version":"3.50.1"},"reference-count":54,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62073030"],"award-info":[{"award-number":["62073030"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ministry of Education, Singapore, under its Research Centre of Excellence award to the Institute for Functional Intelligent Materials","award":["EDUNC-33-18-279-V12"],"award-info":[{"award-number":["EDUNC-33-18-279-V12"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,12]]},"DOI":"10.1007\/s10846-023-02026-7","type":"journal-article","created":{"date-parts":[[2023,12,15]],"date-time":"2023-12-15T08:02:15Z","timestamp":1702627335000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints"],"prefix":"10.1007","volume":"109","author":[{"given":"Jie","family":"Ma","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiji","family":"Han","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9522-4178","authenticated-orcid":false,"given":"Zhijie","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guotao","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"He","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuzhi Sam","family":"Ge","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,12,15]]},"reference":[{"issue":"6","key":"2026_CR1","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1038\/s41578-018-0022-y","volume":"3","author":"M Cianchetti","year":"2018","unstructured":"Cianchetti, M., Laschi, C., Menciassi, A., Dario, P.: Biomedical applications of soft robotics. Nat. Rev. Mater. 3(6), 143\u2013153 (2018)","journal-title":"Nat. Rev. Mater."},{"issue":"5","key":"2026_CR2","doi-asserted-by":"publisher","first-page":"172988141666366","DOI":"10.1177\/1729881416663668","volume":"13","author":"F Trebu\u0148a","year":"2016","unstructured":"Trebu\u0148a, F., Virgala, I., P\u00e1stor, M., Lipt\u00e1k, T., Mikov\u00e1, L.: An inspection of pipe by snake robot. Int. J. Adv. Robot. Syst. 13(5), 1729881416663668 (2016)","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"2","key":"2026_CR3","doi-asserted-by":"publisher","first-page":"1728","DOI":"10.1109\/LRA.2020.2969949","volume":"5","author":"C Branyan","year":"2020","unstructured":"Branyan, C., Hatton, R.L., Meng\u00fcc\u00e7, Y.: Snake-inspired kirigami skin for lateral undulation of a soft snake robot. IEEE Robot Autom Let 5(2), 1728\u20131733 (2020)","journal-title":"IEEE Robot Autom Let"},{"key":"2026_CR4","doi-asserted-by":"crossref","unstructured":"Gul, J.Z., Sajid, M., Rehman, M.M., Siddiqui, G.U., Shah, I., Kim, K.-H., Lee, J.-W., Choi, K.H.: 3D printing for soft robotics \u2013A review. Sci Technol Adv Mat 19(1), 243\u2013262 (2018)","DOI":"10.1080\/14686996.2018.1431862"},{"issue":"12","key":"2026_CR5","first-page":"2124","volume":"44","author":"Y Yang","year":"2022","unstructured":"Yang, Y., Liu, Z., Li, Q., He, W.: Overview of actuators, modeling, and control methods for soft manipulators. Chin J Eng 44(12), 2124\u20132137 (2022)","journal-title":"Chin J Eng"},{"issue":"3","key":"2026_CR6","doi-asserted-by":"publisher","first-page":"284","DOI":"10.1108\/IR-07-2015-0142","volume":"43","author":"S Liu","year":"2016","unstructured":"Liu, S., Yang, Z., Zhu, Z.: Development of a dexterous continuum manipulator for exploration and inspection in confined spaces. Ind. Robot. 43(3), 284\u2013295 (2016)","journal-title":"Ind. Robot."},{"key":"2026_CR7","doi-asserted-by":"publisher","first-page":"234","DOI":"10.1016\/j.mechmachtheory.2016.06.005","volume":"104","author":"MT Chikhaoui","year":"2016","unstructured":"Chikhaoui, M.T., Rabenorosoa, K., Andreff, N.: Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation. Mech. Mach. Theory 104, 234\u2013254 (2016)","journal-title":"Mech. Mach. Theory"},{"key":"2026_CR8","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9407.001.0001","volume-title":"Disaster Robotics","author":"RR Murphy","year":"2014","unstructured":"Murphy, R.R.: Disaster Robotics. MIT Press, London, Cambridge (2014)"},{"key":"2026_CR9","doi-asserted-by":"crossref","unstructured":"Omisore, O.M., Han, S., Ren, L., Zhao, Z., Al-Handarish, Y., Igbe, T., Wang, L.: A teleoperated snake-like robot for minimally invasive radiosurgery of gastrointestinal tumors. In: 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 123\u2013129 (2018)","DOI":"10.1109\/ICARSC.2018.8374171"},{"issue":"11","key":"2026_CR10","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aae412","volume":"27","author":"J Li","year":"2018","unstructured":"Li, J., Chang, W., Li, Q.: Soft robot with a novel variable friction design actuated by SMA and electromagnet. Smart Mater. Struct. 27(11), 115020 (2018)","journal-title":"Smart Mater. Struct."},{"key":"2026_CR11","doi-asserted-by":"crossref","unstructured":"Benouhiba, A., Rabenorosoa, K., Rougeot, P., Ouisse, M., Andreff, N.: A multisegment electro-active polymer based milli-continuum soft robots. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7500\u20137506 (2018)","DOI":"10.1109\/IROS.2018.8593609"},{"key":"2026_CR12","doi-asserted-by":"crossref","unstructured":"Chen, Y., Chung, H., Chen, B.: Baoyinjiya: a lobster-inspired articulated shaft for minimally invasive surgery. Robot. Auton. Syst. 131, 1039599 (2020)","DOI":"10.1016\/j.robot.2020.103599"},{"issue":"5","key":"2026_CR13","doi-asserted-by":"publisher","first-page":"1268","DOI":"10.1109\/TRO.2019.2924386","volume":"35","author":"C Tawk","year":"2019","unstructured":"Tawk, C., Gillett, A., Panhuis, M., Spinks, G.M., Alici, G.: A 3D-printed omni-purpose soft gripper. IEEE T Robot 35(5), 1268\u20131275 (2019)","journal-title":"IEEE T Robot"},{"issue":"6","key":"2026_CR14","doi-asserted-by":"publisher","first-page":"1518","DOI":"10.1109\/TRO.2018.2868815","volume":"34","author":"F Renda","year":"2018","unstructured":"Renda, F., Boyer, F., Dias, J., Seneviratne, L.: Discrete cosserat approach for multisection soft manipulator dynamics. IEEE T Robot 34(6), 1518\u20131533 (2018)","journal-title":"IEEE T Robot"},{"issue":"2","key":"2026_CR15","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1109\/JAS.2023.123213","volume":"10","author":"Y Yang","year":"2023","unstructured":"Yang, Y., Han, J., Liu, Z., Zhao, Z., Hong, K.-S.: Modeling and adaptive neural network control for a soft robotic arm with prescribed motion constraints. IEEE-Caa J Automatic 10(2), 501\u2013511 (2023)","journal-title":"IEEE-Caa J Automatic"},{"key":"2026_CR16","doi-asserted-by":"crossref","unstructured":"Ma, J., Han, Z., Yang, L., Min, G., Liu, Z., He, W.: Dynamics modeling of a soft arm under the cosserat theory. In: 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 87\u201390 (2021)","DOI":"10.1109\/RCAR52367.2021.9517660"},{"issue":"7","key":"2026_CR17","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1163\/156855312X626343","volume":"26","author":"C Laschi","year":"2012","unstructured":"Laschi, C., Cianchetti, M., Mazzolai, B., Margheri, L., Follador, M., Dario, P.: Soft robot arm inspired by the octopus. Adv Robotics 26(7), 709\u2013727 (2012)","journal-title":"Adv Robotics"},{"issue":"2","key":"2026_CR18","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1089\/soro.2017.0007","volume":"5","author":"T George Thuruthel","year":"2018","unstructured":"George Thuruthel, T., Ansari, Y., Falotico, E., Laschi, C.: Control strategies for soft robotic manipulators: a survey. Soft Robot 5(2), 149\u2013163 (2018)","journal-title":"Soft Robot"},{"issue":"4","key":"2026_CR19","doi-asserted-by":"publisher","first-page":"490","DOI":"10.1177\/0278364919897292","volume":"39","author":"D Santinacosimo","year":"2020","unstructured":"Santinacosimo, D., Katzschmannrobert, K.: BicchiAntonio, RusDaniela: Model-based dynamic feedback control of a planar soft robot. Int. J. Robot. Res. 39(4), 490\u2013513 (2020)","journal-title":"Int. J. Robot. Res."},{"key":"2026_CR20","doi-asserted-by":"crossref","unstructured":"Della Santina, C., Truby, R.L., Rus, D.: Data\u2013driven disturbance observers for estimating external forces on soft robots. IEEE Robot Autom Let 5(4), 5717\u20135724 (2020)","DOI":"10.1109\/LRA.2020.3010738"},{"issue":"3","key":"2026_CR21","doi-asserted-by":"publisher","first-page":"1739","DOI":"10.1109\/LRA.2023.3243799","volume":"8","author":"H Li","year":"2023","unstructured":"Li, H., Xun, L., Zheng, G., Renda, F.: Discrete cosserat static model-based control of soft manipulator. IEEE Robot Autom Let 8(3), 1739\u20131746 (2023)","journal-title":"IEEE Robot Autom Let"},{"issue":"2","key":"2026_CR22","doi-asserted-by":"publisher","first-page":"1527","DOI":"10.1109\/TRO.2022.3219777","volume":"39","author":"S Briot","year":"2022","unstructured":"Briot, S., Boyer, F.: A geometrically exact assumed strain modes approach for the geometrico-and kinemato-static modelings of continuum parallel robots. IEEE T Robot 39(2), 1527\u20131543 (2022)","journal-title":"IEEE T Robot"},{"key":"2026_CR23","doi-asserted-by":"crossref","unstructured":"Moon, D.-H., Shin, S.-H., Na, J.-B., Han, S.-Y.: Fluid\u2013structure interaction based on meshless local petrov\u2013galerkin method for worm soft robot analysis. Int J Pr Eng Man-Gt 7, 727\u2013742 (2020)","DOI":"10.1007\/s40684-019-00186-2"},{"issue":"2","key":"2026_CR24","doi-asserted-by":"publisher","first-page":"2380","DOI":"10.1109\/LRA.2020.2969926","volume":"5","author":"F Vanneste","year":"2020","unstructured":"Vanneste, F., Goury, O., Mart\u00ednez, J., Lefebvre, S., Delingette, H., Duriez, C.: Anisotropic soft robots based on 3d printed meso-structured materials: design, modeling by homogenization and simulation. IEEE Robot Autom Let 5(2), 2380\u20132386 (2020)","journal-title":"IEEE Robot Autom Let"},{"issue":"2","key":"2026_CR25","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/7\/2\/025006","volume":"7","author":"F Renda","year":"2012","unstructured":"Renda, F., Cianchetti, M., Giorelli, M., Arienti, A., Laschi, C.: A 3d steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm. Bioinspir. Biomim. 7(2), 025006 (2012)","journal-title":"Bioinspir. Biomim."},{"issue":"95","key":"2026_CR26","first-page":"1","volume":"7","author":"T George Thuruthel","year":"2020","unstructured":"George Thuruthel, T., Renda, F., Iida, F.: First-order dynamic modeling and control of soft robots. Front Robot Ai 7(95), 1\u201314 (2020)","journal-title":"Front Robot Ai"},{"issue":"3","key":"2026_CR27","doi-asserted-by":"publisher","first-page":"847","DOI":"10.1109\/TRO.2020.3036618","volume":"37","author":"F Boyer","year":"2020","unstructured":"Boyer, F., Lebastard, V., Candelier, F., Renda, F.: Dynamics of continuum and soft robots: a strain parameterization based approach. IEEE T Robot 37(3), 847\u2013863 (2020)","journal-title":"IEEE T Robot"},{"issue":"3","key":"2026_CR28","doi-asserted-by":"publisher","first-page":"2342","DOI":"10.1109\/TRO.2023.3236942","volume":"39","author":"H Li","year":"2023","unstructured":"Li, H., Xun, L., Zheng, G.: Piecewise linear strain cosserat model for soft slender manipulator. IEEE T Robot 39(3), 2342\u20132359 (2023)","journal-title":"IEEE T Robot"},{"issue":"3","key":"2026_CR29","doi-asserted-by":"publisher","first-page":"979","DOI":"10.1109\/TMECH.2019.2908242","volume":"24","author":"F Xu","year":"2019","unstructured":"Xu, F., Wang, H., Wang, J., Au, K.W.S., Chen, W.: Underwater dynamic visual servoing for a soft robot arm with online distortion correction. IEEE-Asme T Mech 24(3), 979\u2013989 (2019)","journal-title":"IEEE-Asme T Mech"},{"issue":"4","key":"2026_CR30","doi-asserted-by":"publisher","first-page":"1881","DOI":"10.1109\/TMECH.2017.2699677","volume":"22","author":"G Gerboni","year":"2017","unstructured":"Gerboni, G., Diodato, A., Ciuti, G., Cianchetti, M., Menciassi, A.: Feedback control of soft robot actuators via commercial flex bend sensors. IEEE-Asme T Mech 22(4), 1881\u20131888 (2017)","journal-title":"IEEE-Asme T Mech"},{"key":"2026_CR31","doi-asserted-by":"crossref","unstructured":"Vikas, V., Grover, P., Trimmer, B.: Model-free control framework for multi-limb soft robots. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1111\u20131116 (2015)","DOI":"10.1109\/IROS.2015.7353509"},{"issue":"4","key":"2026_CR32","doi-asserted-by":"publisher","first-page":"949","DOI":"10.1109\/TRO.2016.2588888","volume":"32","author":"V Vikas","year":"2016","unstructured":"Vikas, V., Cohen, E., Grassi, R., Szer, C., Trimmer, B.: Design and locomotion control of soft robot using friction manipulation and motor-tendon actuation. IEEE T Robot 32(4), 949\u2013959 (2016)","journal-title":"IEEE T Robot"},{"issue":"4","key":"2026_CR33","doi-asserted-by":"publisher","first-page":"880","DOI":"10.1109\/TRO.2014.2309194","volume":"30","author":"MC Yip","year":"2014","unstructured":"Yip, M.C., Camarillo, D.B.: Model-less feedback control of continuum manipulators in constrained environments. IEEE T Robot 30(4), 880\u2013888 (2014)","journal-title":"IEEE T Robot"},{"issue":"2","key":"2026_CR34","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1109\/TCST.2019.2958015","volume":"29","author":"H Wang","year":"2021","unstructured":"Wang, H., Ni, H., Wang, J., Chen, W.: Hybrid vision\/force control of soft robot based on a deformation model. IEEE T Contr Syst T 29(2), 661\u2013671 (2021)","journal-title":"IEEE T Contr Syst T"},{"issue":"2","key":"2026_CR35","doi-asserted-by":"publisher","first-page":"334","DOI":"10.1109\/TRO.2011.2105410","volume":"27","author":"M Mahvash","year":"2011","unstructured":"Mahvash, M., Dupont, P.E.: Stiffness control of surgical continuum manipulators. IEEE T Robot 27(2), 334\u2013345 (2011)","journal-title":"IEEE T Robot"},{"issue":"9","key":"2026_CR36","doi-asserted-by":"publisher","first-page":"5805","DOI":"10.1109\/TSMC.2021.3130925","volume":"52","author":"X Guo","year":"2021","unstructured":"Guo, X., Yan, W., Cui, R., Rout, R., Zhang, S.: Self-triggered adaptive nn tracking control for a class of continuous-time nonlinear systems with input constraints. IEEE T Syst Man Cy-S 52(9), 5805\u20135815 (2021)","journal-title":"IEEE T Syst Man Cy-S"},{"issue":"4","key":"2026_CR37","doi-asserted-by":"publisher","first-page":"12299","DOI":"10.1109\/LRA.2022.3216233","volume":"7","author":"F Ma","year":"2022","unstructured":"Ma, F., Yan, W., Chen, L., Cui, R.: Cpg-based motion planning of hybrid underwater hexapod robot for wall climbing and transition. IEEE Robot Autom Let 7(4), 12299\u201312306 (2022)","journal-title":"IEEE Robot Autom Let"},{"issue":"3","key":"2026_CR38","doi-asserted-by":"publisher","first-page":"396","DOI":"10.1007\/s11633-022-1346-z","volume":"20","author":"L-H Kong","year":"2023","unstructured":"Kong, L.-H., He, W., Chen, W.-S., Zhang, H., Wang, Y.-N.: Dynamic movement primitives based robot skills learning. Mach Intell Res 20(3), 396\u2013407 (2023)","journal-title":"Mach Intell Res"},{"issue":"12","key":"2026_CR39","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-022-3606-1","volume":"65","author":"H Qiao","year":"2022","unstructured":"Qiao, H., Zhong, S., Chen, Z., Wang, H.: Improving performance of robots using human-inspired approaches: a survey. Sci China Inf Sci 65(12), 221201 (2022)","journal-title":"Sci China Inf Sci"},{"issue":"1","key":"2026_CR40","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11633-022-1390-8","volume":"20","author":"H Qiao","year":"2023","unstructured":"Qiao, H., Wu, Y.-X., Zhong, S.-L., Yin, P.-J., Chen, J.-H.: Brain-inspired intelligent robotics: theoretical analysis and systematic application. Mach Intell Res 20(1), 1\u201318 (2023)","journal-title":"Mach Intell Res"},{"key":"2026_CR41","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.111207","volume":"156","author":"Z Liu","year":"2023","unstructured":"Liu, Z., Lu, Z., Zhao, Z., Efe, M.\u00d6., Hong, K.-S.: Single parameter adaptive neural network control for multi-agent deployment with prescribed tracking performance. Automatica 156, 111207 (2023)","journal-title":"Automatica"},{"key":"2026_CR42","doi-asserted-by":"crossref","unstructured":"Xie, Z., Domel, A.G., An, N., Green, C., Gong, Z., Wang, T., Knubben, E.M., Weaver, J.C., Bertoldi, K., Wen, L.: Octopus arm-inspired tapered soft actuators with suckers for improved grasping. Soft Robot 7(5), 639\u2013648 (2020)","DOI":"10.1089\/soro.2019.0082"},{"key":"2026_CR43","doi-asserted-by":"crossref","unstructured":"Greco, G., Bosia, F., Tramacere, F., Mazzolai, B., Pugno, N.M.: The role of hairs in the adhesion of octopus suckers: a hierarchical peeling approach. Bioinspir. Biomim. 15(3), 035006 (2020)","DOI":"10.1088\/1748-3190\/ab72da"},{"key":"2026_CR44","doi-asserted-by":"crossref","unstructured":"Zhang, X., Fan, C., Parthasarathy, T., Gazzola, M.: Modeling and simulation of complex dynamic musculoskeletal architectures. Nat. Commun. 10(4825), 4825 (2019)","DOI":"10.1038\/s41467-019-12759-5"},{"key":"2026_CR45","doi-asserted-by":"crossref","unstructured":"Walker, M.W., Orin, D.E.: Efficient dynamic computer simulation of robotic mechanisms. J Dyn Syst-Tasme 104, 205\u2013211 (1982)","DOI":"10.1115\/1.3139699"},{"issue":"6","key":"2026_CR46","doi-asserted-by":"publisher","first-page":"1033","DOI":"10.1109\/TRO.2011.2160469","volume":"27","author":"DC Rucker","year":"2011","unstructured":"Rucker, D.C., Webster Iii, R.J.: Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE T Robot 27(6), 1033\u20131044 (2011)","journal-title":"IEEE T Robot"},{"issue":"3","key":"2026_CR47","doi-asserted-by":"publisher","first-page":"4006","DOI":"10.1109\/LRA.2020.2985620","volume":"5","author":"F Renda","year":"2020","unstructured":"Renda, F., Armanini, C., Lebastard, V., Candelier, F., Boyer, F.: A geometric variable strain approach for static modeling of soft manipulators with tendon and fluidic actuation. IEEE Robot Autom Let 5(3), 4006\u20134013 (2020)","journal-title":"IEEE Robot Autom Let"},{"key":"2026_CR48","doi-asserted-by":"publisher","first-page":"314","DOI":"10.1016\/j.automatica.2018.09.032","volume":"98","author":"YD Song","year":"2018","unstructured":"Song, Y.D., Zhou, S.: Tracking control of uncertain nonlinear systems with deferred asymmetric time-varying full state constraints. Automatica 98, 314\u2013322 (2018)","journal-title":"Automatica"},{"key":"2026_CR49","volume-title":"Adaptive Backstepping Control of Uncertain Systems: Nonsmooth Nonlinearities","author":"J Zhou","year":"2008","unstructured":"Zhou, J., Wen, C., Zhou, J., Wen, C.: Adaptive Backstepping Control of Uncertain Systems: Nonsmooth Nonlinearities. Interactionsor Time-variations. Springer, Berlin Heidelberg (2008)"},{"issue":"4","key":"2026_CR50","first-page":"449","volume":"46","author":"KP Tee","year":"2013","unstructured":"Tee, K.P., Ge, S.S., Tay, E.H.: Barrier lyapunov functions for the control of output- constrained nonlinear systems. Automatica 46(4), 449\u2013455 (2013)","journal-title":"Automatica"},{"issue":"12","key":"2026_CR51","first-page":"5390","volume":"31","author":"RQ Fuentes-Aguilar","year":"2020","unstructured":"Fuentes-Aguilar, R.Q., Chairez, I.: Adaptive tracking control of state constraint systems based on differential neural networks: a barrier lyapunov function approach. IEEE T Neur Net Lear 31(12), 5390\u20135401 (2020)","journal-title":"IEEE T Neur Net Lear"},{"issue":"4","key":"2026_CR52","doi-asserted-by":"publisher","first-page":"728","DOI":"10.1109\/TCYB.2014.2334695","volume":"45","author":"J Ma","year":"2017","unstructured":"Ma, J., Zheng, Z., Li, P.: Adaptive dynamic surface control of a class of nonlinear systems with unknown direction control gains and input saturation. IEEE T Cybernetics 45(4), 728\u2013741 (2017)","journal-title":"IEEE T Cybernetics"},{"issue":"3","key":"2026_CR53","doi-asserted-by":"publisher","first-page":"1244","DOI":"10.1109\/TCST.2021.3104648","volume":"30","author":"Z Han","year":"2022","unstructured":"Han, Z., Liu, Z., He, W., Li, G.: Distributed parameter modeling and boundary control of an octopus tentacle-inspired soft robot. IEEE T Contr Syst T 30(3), 1244\u20131256 (2022)","journal-title":"IEEE T Contr Syst T"},{"issue":"6","key":"2026_CR54","doi-asserted-by":"publisher","first-page":"3760","DOI":"10.1109\/TAC.2022.3201258","volume":"68","author":"L Kong","year":"2022","unstructured":"Kong, L., He, W., Liu, Z., Yu, X., Silvestre, C.: Adaptive tracking control with global performance for output-constrained mimo nonlinear systems. IEEE T Automat Contr 68(6), 3760\u20133767 (2022)","journal-title":"IEEE T Automat Contr"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-02026-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-02026-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-02026-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,31]],"date-time":"2023-12-31T12:02:41Z","timestamp":1704024161000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-02026-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12]]},"references-count":54,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,12]]}},"alternative-id":["2026"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-02026-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12]]},"assertion":[{"value":"1 June 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 November 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 December 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 conflicts of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest\/Competing interests"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"94"}}