{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,26]],"date-time":"2026-09-26T03:47:59Z","timestamp":1790394479609,"version":"4.1.0"},"reference-count":30,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["ISA Transactions"],"published-print":{"date-parts":[[2026,1]]},"DOI":"10.1016\/j.isatra.2025.11.012","type":"journal-article","created":{"date-parts":[[2025,11,15]],"date-time":"2025-11-15T05:46:44Z","timestamp":1763185604000},"page":"455-464","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"special_numbering":"C","title":["Funnel control based on unknown system dynamics estimator for hydraulically-driven lower limb exoskeleton robot"],"prefix":"10.1016","volume":"168","author":[{"given":"Jinsong","family":"Zhao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5194-1757","authenticated-orcid":false,"given":"Huidong","family":"Hou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunpeng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quan","family":"Miao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.isatra.2025.11.012_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2025.126862","article-title":"A multi-modal sensing based terrain identification approach for active lower limb exoskeletons","volume":"275","author":"Das","year":"2025","journal-title":"Expert Syst Appl"},{"issue":"1","key":"10.1016\/j.isatra.2025.11.012_bib0010","doi-asserted-by":"crossref","first-page":"1760","DOI":"10.1038\/s41467-024-46249-0","article-title":"Shaping high-performance wearable robots for human motor and sensory reconstruction and enhancement","volume":"15","author":"Xia","year":"2024","journal-title":"Nat Commun"},{"key":"10.1016\/j.isatra.2025.11.012_bib0015","doi-asserted-by":"crossref","first-page":"67250","DOI":"10.1109\/ACCESS.2020.2986357","article-title":"Palexo: a parallel actuated lower limb exoskeleton for high-load carrying","volume":"8","author":"Wang","year":"2020","journal-title":"IEEE Access"},{"issue":"4","key":"10.1016\/j.isatra.2025.11.012_bib0020","doi-asserted-by":"crossref","first-page":"1508","DOI":"10.1109\/TMECH.2019.2916546","article-title":"Admittance shaping-based assistive control of SEA-driven robotic hip exoskeleton","volume":"24","author":"Zhang","year":"2019","journal-title":"IEEE ASME Trans Mechatron"},{"issue":"5","key":"10.1016\/j.isatra.2025.11.012_bib0025","doi-asserted-by":"crossref","first-page":"2236","DOI":"10.1109\/TMECH.2019.2933983","article-title":"An unpowered flexible lower limb exoskeleton: walking assisting and energy harvesting","volume":"24","author":"Xie","year":"2019","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"2","key":"10.1016\/j.isatra.2025.11.012_bib0030","doi-asserted-by":"crossref","first-page":"669","DOI":"10.1109\/TMECH.2017.2668604","article-title":"A survey on control of hydraulic robotic manipulators with projection to future trends","volume":"22","author":"Mattila","year":"2017","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"21","key":"10.1016\/j.isatra.2025.11.012_bib0035","doi-asserted-by":"crossref","first-page":"6116","DOI":"10.3390\/s20216116","article-title":"A kinematic model of a humanoid lower limb exoskeleton with hydraulic actuators","volume":"20","author":"Glowinski","year":"2020","journal-title":"Sensors"},{"key":"10.1016\/j.isatra.2025.11.012_bib0040","article-title":"Virtual torque control combining with modal decoupling research for hydraulic-driven lower limb exoskeleton robot","author":"Zhao","year":"2025","journal-title":"ISA Trans"},{"key":"10.1016\/j.isatra.2025.11.012_bib0045","doi-asserted-by":"crossref","first-page":"1611","DOI":"10.1007\/s11071-017-3538-6","article-title":"Active disturbance rejection adaptive control of uncertain nonlinear systems: theory and application","volume":"89","author":"Yao","year":"2017","journal-title":"Nonlinear Dyn"},{"issue":"6","key":"10.1016\/j.isatra.2025.11.012_bib0050","doi-asserted-by":"crossref","first-page":"2316","DOI":"10.1109\/TCST.2015.2420624","article-title":"Design of an integral suboptimal second-order sliding mode controller for the robust motion control of robot manipulators","volume":"23","author":"Ferrara","year":"2015","journal-title":"IEEE Trans Control Syst Technol"},{"key":"10.1016\/j.isatra.2025.11.012_bib0055","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1016\/j.isatra.2020.10.008","article-title":"Adaptive sliding-mode controller of a lower limb mobile exoskeleton for active rehabilitation","volume":"109","author":"L\u00e1zaro R","year":"2021","journal-title":"ISA Trans"},{"issue":"11","key":"10.1016\/j.isatra.2025.11.012_bib0060","doi-asserted-by":"crossref","first-page":"5156","DOI":"10.1109\/TNNLS.2020.3027232","article-title":"Decentralized filtering adaptive neural network control for uncertain switched interconnected nonlinear systems","volume":"32","author":"Ma","year":"2021","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"10.1016\/j.isatra.2025.11.012_bib0065","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1016\/j.neucom.2017.06.055","article-title":"Model-free based neural network control with time-delay estimation for lower extremity exoskeleton","volume":"272","author":"Zhang","year":"2018","journal-title":"Neurocomputing"},{"issue":"6","key":"10.1016\/j.isatra.2025.11.012_bib0070","doi-asserted-by":"crossref","first-page":"3039","DOI":"10.1109\/TCYB.2019.2931401","article-title":"Adaptive fuzzy tracking control design for a class of uncertain nonstrict-feedback fractional-order nonlinear siso systems","volume":"51","author":"Yang","year":"2021","journal-title":"IEEE Trans Cybern"},{"issue":"3","key":"10.1016\/j.isatra.2025.11.012_bib0075","doi-asserted-by":"crossref","first-page":"1099","DOI":"10.1109\/TCYB.2020.2972582","article-title":"Reduced adaptive fuzzy decoupling control for lower limb exoskeleton","volume":"51","author":"Sun","year":"2021","journal-title":"IEEE Trans Cybern"},{"key":"10.1016\/j.isatra.2025.11.012_bib0080","doi-asserted-by":"crossref","DOI":"10.1016\/j.isatra.2025.01.049","article-title":"External torque estimation based P+ damping control for bilateral teleoperation systems","author":"Jing","year":"2025","journal-title":"ISA Trans"},{"issue":"4","key":"10.1016\/j.isatra.2025.11.012_bib0085","doi-asserted-by":"crossref","first-page":"706","DOI":"10.1109\/TMECH.2004.839034","article-title":"Disturbance observer based control for nonlinear systems","volume":"9","author":"Chen","year":"2004","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"3","key":"10.1016\/j.isatra.2025.11.012_bib0090","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","article-title":"From pid to active disturbance rejection control","volume":"56","author":"Han","year":"2009","journal-title":"IEEE Trans Ind Electron"},{"issue":"11","key":"10.1016\/j.isatra.2025.11.012_bib0095","doi-asserted-by":"crossref","first-page":"6285","DOI":"10.1109\/TIE.2014.2304912","article-title":"Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping","volume":"61","author":"Yao","year":"2014","journal-title":"IEEE Trans Ind Electron"},{"key":"10.1016\/j.isatra.2025.11.012_bib0100","doi-asserted-by":"crossref","first-page":"10382","DOI":"10.1109\/ACCESS.2017.2713419","article-title":"Barrier lyapunov functions-based adaptive neural control for permanent magnet synchronous motors with full-state constraints","volume":"5","author":"Liu","year":"2017","journal-title":"IEEE Access"},{"issue":"3","key":"10.1016\/j.isatra.2025.11.012_bib0105","doi-asserted-by":"crossref","first-page":"2053","DOI":"10.1109\/TAES.2021.3127854","article-title":"Attitude tracking control with constraints for rigid spacecraft based on control barrier lyapunov functions","volume":"58","author":"Wu","year":"2022","journal-title":"IEEE Trans Aerosp Electron Syst"},{"issue":"7","key":"10.1016\/j.isatra.2025.11.012_bib0110","doi-asserted-by":"crossref","first-page":"1641","DOI":"10.1109\/TCYB.2016.2554621","article-title":"Adaptive neural network control of a marine vessel with constraints using the asymmetric barrier lyapunov function","volume":"47","author":"He","year":"2017","journal-title":"IEEE Trans Cybern"},{"issue":"1","key":"10.1016\/j.isatra.2025.11.012_bib0115","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1109\/TSMC.2022.3178626","article-title":"Neural network-based adaptive asymptotic prescribed performance tracking control of hydraulic manipulators","volume":"53","author":"Deng","year":"2023","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"7","key":"10.1016\/j.isatra.2025.11.012_bib0120","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 Trans Syst Man Cybern Syst"},{"issue":"11","key":"10.1016\/j.isatra.2025.11.012_bib0125","doi-asserted-by":"crossref","first-page":"2749","DOI":"10.1109\/TNNLS.2015.2392946","article-title":"Decentralized output feedback adaptive nn tracking control for time-delay stochastic nonlinear systems with prescribed performance","volume":"26","author":"Hua","year":"2015","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"4","key":"10.1016\/j.isatra.2025.11.012_bib0130","doi-asserted-by":"crossref","first-page":"918","DOI":"10.1109\/TAC.2009.2013013","article-title":"PI-funnel control for two mass systems","volume":"54","author":"Ilchmann","year":"2009","journal-title":"IEEE Trans Autom Control"},{"issue":"6","key":"10.1016\/j.isatra.2025.11.012_bib0135","doi-asserted-by":"crossref","first-page":"6215","DOI":"10.1109\/TIE.2021.3095811","article-title":"Non-linear bandwidth extended-state-observer based non-smooth funnel control for motor-drive servo systems","volume":"69","author":"Cheng","year":"2022","journal-title":"IEEE Trans Ind Electron"},{"issue":"1","key":"10.1016\/j.isatra.2025.11.012_bib0140","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1109\/TASE.2016.2618010","article-title":"Extended-state-observer-based funnel control for nonlinear servomechanisms with prescribed tracking performance","volume":"14","author":"Wang","year":"2017","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"2","key":"10.1016\/j.isatra.2025.11.012_bib0145","first-page":"631","article-title":"Output feedback control of hydraulic active suspensions with experimental validation","volume":"70","author":"Huang","year":"2022","journal-title":"IEEE Trans Circuits Syst II Express Briefs"},{"issue":"3","key":"10.1016\/j.isatra.2025.11.012_bib0150","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1109\/MCS.2017.2674438","article-title":"High-gain observers in feedback control: application to permanent magnet synchronous motors","volume":"37","author":"Khalil","year":"2017","journal-title":"IEEE Control Syst Mag"}],"container-title":["ISA Transactions"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0019057825006305?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0019057825006305?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T21:45:15Z","timestamp":1768427115000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0019057825006305"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1]]},"references-count":30,"alternative-id":["S0019057825006305"],"URL":"https:\/\/doi.org\/10.1016\/j.isatra.2025.11.012","relation":{},"ISSN":["0019-0578"],"issn-type":[{"value":"0019-0578","type":"print"}],"subject":[],"published":{"date-parts":[[2026,1]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Funnel control based on unknown system dynamics estimator for hydraulically-driven lower limb exoskeleton robot","name":"articletitle","label":"Article Title"},{"value":"ISA Transactions","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.isatra.2025.11.012","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 International Society of Automation. Published by Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}]}}