{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T23:11:41Z","timestamp":1778109101975,"version":"3.51.4"},"reference-count":42,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62192753"],"award-info":[{"award-number":["62192753"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["European Journal of Control"],"published-print":{"date-parts":[[2026,5]]},"DOI":"10.1016\/j.ejcon.2026.101491","type":"journal-article","created":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T23:50:59Z","timestamp":1773273059000},"page":"101491","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["An adaptive finite-time prescribed performance control strategy for n-DOF manipulators with dynamic constraints"],"prefix":"10.1016","volume":"89","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2586-3868","authenticated-orcid":false,"given":"Jiaying","family":"Ju","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7961-865X","authenticated-orcid":false,"given":"Cungen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9346-6157","authenticated-orcid":false,"given":"Bo","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0001","doi-asserted-by":"crossref","first-page":"7002","DOI":"10.1109\/TCE.2025.3565105","article-title":"h\u221e delayed filtering of markov jump fuzzy systems in consumer electronics: Input-output analysis","volume":"71","author":"Aslam","year":"2025","journal-title":"IEEE Transactions on Consumer Electronics"},{"key":"10.1016\/j.ejcon.2026.101491_bib0002","doi-asserted-by":"crossref","first-page":"15536","DOI":"10.1109\/TASE.2025.3570089","article-title":"Self-triggered scheme design for takagi-sugeno fuzzy model based on mismatch premise variable with time-varying delay","volume":"22","author":"Aslam","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"9","key":"10.1016\/j.ejcon.2026.101491_bib0003","doi-asserted-by":"crossref","first-page":"2090","DOI":"10.1109\/TAC.2008.929402","article-title":"Robust adaptive control of feedback linearizable mimo nonlinear systems with prescribed performance","volume":"53","author":"Bechlioulis","year":"2008","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0004","doi-asserted-by":"crossref","first-page":"6910","DOI":"10.1109\/TCE.2025.3563993","article-title":"A consumer electronics-enhanced uav system for agricultural farm tracking with fuzzy smo and actuator fault detection control algorithms","volume":"71","author":"Bilal","year":"2025","journal-title":"IEEE Transactions on Consumer Electronics"},{"issue":"19","key":"10.1016\/j.ejcon.2026.101491_bib0005","doi-asserted-by":"crossref","first-page":"31422","DOI":"10.1109\/JIOT.2024.3418352","article-title":"Online fault diagnosis of industrial robot using iort and hybrid deep learning techniques: An experimental approach","volume":"11","author":"Bilal","year":"2024","journal-title":"IEEE Internet Things Journal"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0006","doi-asserted-by":"crossref","first-page":"2529","DOI":"10.1109\/TFUZZ.2021.3089031","article-title":"A simplified finite-time fuzzy neural controller with prescribed performance applied to waverider aircraft","volume":"30","author":"Bu","year":"2022","journal-title":"IEEE Transactions on Fuzzy Systems"},{"key":"10.1016\/j.ejcon.2026.101491_bib0007","doi-asserted-by":"crossref","first-page":"3283","DOI":"10.1007\/s00521-021-06608-0","article-title":"Tuning of lqr-pid controller to control parallel manipulator","volume":"4","author":"Choubey","year":"2022","journal-title":"Neural Computation"},{"issue":"3","key":"10.1016\/j.ejcon.2026.101491_bib0008","doi-asserted-by":"crossref","first-page":"767","DOI":"10.1109\/TFUZZ.2020.3048518","article-title":"Observer-based finite-time adaptive fuzzy control with prescribed performance for nonstrict-feedback nonlinear systems","volume":"30","author":"Cui","year":"2022","journal-title":"IEEE Transactions on Fuzzy Systems"},{"issue":"9","key":"10.1016\/j.ejcon.2026.101491_bib0009","doi-asserted-by":"crossref","first-page":"1105","DOI":"10.1049\/cth2.12438","article-title":"Taylor-based adaptive sliding mode control method for robot manipulators","volume":"17","author":"Fateh","year":"2023","journal-title":"IET Control Theory Application"},{"key":"10.1016\/j.ejcon.2026.101491_bib0010","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1016\/j.isatra.2023.12.011","article-title":"Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time","volume":"145","author":"Ghanooni","year":"2024","journal-title":"ISA Transactions"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0011","doi-asserted-by":"crossref","first-page":"7664","DOI":"10.1109\/TIE.2023.3312416","article-title":"Wang cl adaptive prescribed performance control for pem fuel cell air supply systems with unknown air compressor faults","volume":"71","author":"Guo","year":"2024","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0012","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1080\/00207179.2019.1590648","article-title":"Pid control of robot manipulators actuated by bldc motors","volume":"94","author":"Hernandez-Guzman","year":"2021","journal-title":"International Journal of Control"},{"key":"10.1016\/j.ejcon.2026.101491_bib0013","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1016\/j.isatra.2022.11.024","article-title":"Neural network-based adaptive second-order sliding mode control for uncertain manipulator systems with input saturation","volume":"136","author":"Hu","year":"2023","journal-title":"ISA Transactions"},{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0014","doi-asserted-by":"crossref","first-page":"772","DOI":"10.1109\/TCYB.2019.2921254","article-title":"Disturbance observer-based fault-tolerant control for robotic systems with guaranteed prescribed performance","volume":"52","author":"Huang","year":"2022","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0015","doi-asserted-by":"crossref","first-page":"3046","DOI":"10.1109\/TAC.2018.2874877","article-title":"Adaptive fixed-time control for mimo nonlinear systems with asymmetric output constraints using universal barrier functions","volume":"64","author":"Jin","year":"2019","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"3","key":"10.1016\/j.ejcon.2026.101491_bib0016","doi-asserted-by":"crossref","first-page":"8283","DOI":"10.1109\/LRA.2022.3187277","article-title":"Robust stabilization of elastic joint robots by esp and pid control: Theory and experiments","volume":"7","author":"Keppler","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"10.1016\/j.ejcon.2026.101491_bib0017","doi-asserted-by":"crossref","first-page":"3022","DOI":"10.1109\/TSMC.2024.3353212","article-title":"On the uniformness of full-state error prescribed performance for strict-feedback systems","volume":"54","author":"Li","year":"2024","journal-title":"IEEE Transactions on Systems Man and Cybernetics Systems"},{"key":"10.1016\/j.ejcon.2026.101491_bib0018","doi-asserted-by":"crossref","first-page":"3655","DOI":"10.1007\/s11071-021-06456-6","article-title":"Adaptive finite-time prescribed performance control for stochastic nonlinear systems with unknown virtual control coefficients","volume":"104","author":"Liu","year":"2021","journal-title":"Nonlinear Dynamics"},{"issue":"8","key":"10.1016\/j.ejcon.2026.101491_bib0019","doi-asserted-by":"crossref","first-page":"6507","DOI":"10.1002\/rnc.4739","article-title":"Adaptive prescribed performance tracking control for strict-feedback nonlinear systems with zero dynamics","volume":"29","author":"Liu","year":"2019","journal-title":"International Journal of Robust and Nonlinear Control"},{"key":"10.1016\/j.ejcon.2026.101491_bib0020","doi-asserted-by":"crossref","first-page":"14234","DOI":"10.1109\/TASE.2025.3560099","article-title":"Robust output regulation with prescribed performance for second-order non-polynomial nonlinear systems","volume":"22","author":"Liu","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"4","key":"10.1016\/j.ejcon.2026.101491_bib0021","doi-asserted-by":"crossref","first-page":"1222","DOI":"10.1109\/TNNLS.2019.2919577","article-title":"Direct adaptive preassigned finite-time control with time-delay and quantized input using neural network","volume":"31","author":"Liu","year":"2020","journal-title":"IEEE transactions on neural networks and learning systems"},{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0022","doi-asserted-by":"crossref","first-page":"477","DOI":"10.1007\/s40435-023-01197-3","article-title":"Adaptive robust self-tuning pid fault-tolerant control for robot manipulators","volume":"12","author":"Long","year":"2024","journal-title":"International Journal of Dynamics and Control"},{"issue":"2","key":"10.1016\/j.ejcon.2026.101491_bib0023","doi-asserted-by":"crossref","first-page":"1402","DOI":"10.1109\/TAC.2024.3471330","article-title":"Leader-following consensus with prescribed performance for linear multi-agent systems","volume":"70","author":"Luo","year":"2025","journal-title":"IEEE Transactions on Automatic Control"},{"key":"10.1016\/j.ejcon.2026.101491_bib0024","doi-asserted-by":"crossref","first-page":"446","DOI":"10.1016\/j.isatra.2023.01.005","article-title":"An adaptive robust backstepping improved control scheme for mobile manipulators robot","volume":"137","author":"Mai","year":"2023","journal-title":"ISA Transactions"},{"key":"10.1016\/j.ejcon.2026.101491_bib0025","doi-asserted-by":"crossref","first-page":"13398","DOI":"10.1109\/TASE.2025.3552645","article-title":"Modeling of asynchronous mode-dependent delays in stochastic markovian jumping modes based on static neural networks for robotic manipulators","volume":"22","author":"Shamrooz","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"10.1016\/j.ejcon.2026.101491_bib0026","doi-asserted-by":"crossref","first-page":"314","DOI":"10.1016\/j.automatica.2018.09.032","article-title":"Tracking control of uncertain nonlinear systems with deferred asymmetric time-varying full state constraints","volume":"98","author":"Song","year":"2018","journal-title":"Automatica"},{"key":"10.1016\/j.ejcon.2026.101491_bib0027","doi-asserted-by":"crossref","first-page":"19555","DOI":"10.1109\/TASE.2025.3596555","article-title":"Adaptive backstepping optimal tracking control of interconnected robotic manipulator system based on reinforcement learning","volume":"22","author":"Su","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"3","key":"10.1016\/j.ejcon.2026.101491_bib0028","doi-asserted-by":"crossref","first-page":"1045","DOI":"10.1109\/TCYB.2025.3529867","article-title":"Event-triggered adaptive finite-time control for a robotic manipulator system with global prescribed performance and asymptotic tracking","volume":"55","author":"Sui","year":"2025","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0029","doi-asserted-by":"crossref","first-page":"1428","DOI":"10.1080\/00207179.2015.1135351","article-title":"Adaptive neural control for an uncertain robotic manipulator with joint space constraints","volume":"89","author":"Tang","year":"2016","journal-title":"International Journal of Control"},{"issue":"5","key":"10.1016\/j.ejcon.2026.101491_bib0030","doi-asserted-by":"crossref","first-page":"3860","DOI":"10.1109\/TIE.2019.2918475","article-title":"Adaptive backstepping sliding mode control for equilibrium position tracking of an electrohydraulic elastic manipulator","volume":"67","author":"Tran","year":"2020","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"1","key":"10.1016\/j.ejcon.2026.101491_bib0031","doi-asserted-by":"crossref","first-page":"712","DOI":"10.1109\/TCYB.2020.2974775","article-title":"Event-triggered adaptive fuzzy output-feedback control for nonstrict-feedback nonlinear systems with asymmetric output constraint","volume":"52","author":"Wang","year":"2020","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"6","key":"10.1016\/j.ejcon.2026.101491_bib0032","doi-asserted-by":"crossref","first-page":"5615","DOI":"10.1109\/TMECH.2022.3186390","article-title":"Extended-state-observer-based adaptive prescribed performance control for hydraulic systems with full-state constraints","volume":"27","author":"Xu","year":"2022","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"10.1016\/j.ejcon.2026.101491_bib0033","doi-asserted-by":"crossref","first-page":"9708","DOI":"10.1109\/TASE.2024.3510744","article-title":"Adaptive dynamic surface funnel control of hydraulic systems with finite-time prescribed tracking performance","volume":"22","author":"Xu","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"12","key":"10.1016\/j.ejcon.2026.101491_bib0034","doi-asserted-by":"crossref","first-page":"12500","DOI":"10.1109\/TIE.2023.3236114","article-title":"Barrier lyapunov function-based adaptive output feedback prescribed performance controller for hydraulic systems with uncertainties compensation","volume":"70","author":"Xu","year":"2023","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0035","doi-asserted-by":"crossref","first-page":"3898","DOI":"10.1109\/TSMC.2022.3216119","article-title":"Output-feedback prescribed performance control for the full-state constrained nonlinear systems and its application to dc motor system","volume":"53","author":"Xu","year":"2023","journal-title":"IEEE Transactions on Systems Man and Cybernetics: Systems"},{"issue":"1","key":"10.1016\/j.ejcon.2026.101491_bib0036","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1007\/s11071-021-06564-3","article-title":"Extended state observer-based adaptive prescribed performance control for a class of nonlinear systems with full-state constraints and uncertainties","volume":"105","author":"Xu","year":"2021","journal-title":"Nonlinear Dynamics"},{"issue":"3","key":"10.1016\/j.ejcon.2026.101491_bib0037","doi-asserted-by":"crossref","first-page":"1671","DOI":"10.1109\/TSMC.2019.2900502","article-title":"A novel robust control method for motion control of uncertain single-link flexible-joint manipulator","volume":"51","author":"Yan","year":"2021","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"1","key":"10.1016\/j.ejcon.2026.101491_bib0038","doi-asserted-by":"crossref","first-page":"539","DOI":"10.1109\/TIE.2021.3050371","article-title":"New adaptive control methods for n-link robot manipulators with online gravity compensation: Design and experiments","volume":"69","author":"Yang","year":"2022","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"7","key":"10.1016\/j.ejcon.2026.101491_bib0039","doi-asserted-by":"crossref","first-page":"4173","DOI":"10.1002\/rnc.6008","article-title":"Initial configurations-independent predefined performance control of robotic manipulator with input saturation","volume":"32","author":"Zhai","year":"2022","journal-title":"International Journal of Robust and Nonlinear Control"},{"key":"10.1016\/j.ejcon.2026.101491_bib0040","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2023.111102","article-title":"Unifying performance specifica tions in tracking control of mimo nonlinear systems with actuation faults","volume":"155","author":"Zhao","year":"2023","journal-title":"Automatica"},{"key":"10.1016\/j.ejcon.2026.101491_bib0041","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.fss.2020.03.010","article-title":"Finite-time prescribed performance adaptive fuzzy control for unknown nonlinear systems","volume":"402","author":"Zhou","year":"2021","journal-title":"Fuzzy Sets and Systems"},{"key":"10.1016\/j.ejcon.2026.101491_bib0042","doi-asserted-by":"crossref","first-page":"70146","DOI":"10.1109\/ACCESS.2024.3402379","article-title":"Self-adjusting prescribed performance h\u221e trajectory tracking control for underactuated autonomous underwater vehicles","volume":"12","author":"Zhuo","year":"2024","journal-title":"IEEE Access"}],"container-title":["European Journal of Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0947358026000440?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0947358026000440?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T22:25:27Z","timestamp":1778106327000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0947358026000440"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":42,"alternative-id":["S0947358026000440"],"URL":"https:\/\/doi.org\/10.1016\/j.ejcon.2026.101491","relation":{},"ISSN":["0947-3580"],"issn-type":[{"value":"0947-3580","type":"print"}],"subject":[],"published":{"date-parts":[[2026,5]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"An adaptive finite-time prescribed performance control strategy for n-DOF manipulators with dynamic constraints","name":"articletitle","label":"Article Title"},{"value":"European Journal of Control","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.ejcon.2026.101491","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 European Control Association. Published by Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"101491"}}