{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T19:00:59Z","timestamp":1771700459964,"version":"3.50.1"},"reference-count":15,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5061,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,5]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>For the trajectory following problem of a robot manipulator, a robust estimation and control scheme which requires only position measurements is proposed to guarantee uniform ultimate bounded stability under significant uncertainties and disturbances in the robot dynamics. The scheme combines a class of robust control laws with a robust estimator where the robust control law can be chosen to be either a modification of the standard computed torque control law or simply a linear and decentralized \u201cPD\u201d control law. The proposed robust estimator is also linear and decentralized for easy implementation. Constructive choices of the gains in the control law and estimator are proposed which depend only on the coefficients of a polynomial bounding function of the unknown dynamics. The asymptotic stability of the tracking errors and the estimation error is also investigated. Experimentation results verify the theoretical analysis.<\/jats:p>","DOI":"10.1017\/s0263574700017756","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:12:54Z","timestamp":1236690774000},"page":"223-231","source":"Crossref","is-referenced-by-count":30,"title":["Robust estimation and control of robotic manipulators"],"prefix":"10.1017","volume":"13","author":[{"given":"Zhihua","family":"Qu","sequence":"first","affiliation":[]},{"given":"Darren M.","family":"Dawson","sequence":"additional","affiliation":[]},{"given":"John F.","family":"Dorsey","sequence":"additional","affiliation":[]},{"given":"John D.","family":"Duffie","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700017756_ref012","volume-title":"Applied Nonlinear Control","author":"Slotine","year":"1991"},{"key":"S0263574700017756_ref005","doi-asserted-by":"publisher","DOI":"10.1109\/9.83543"},{"key":"S0263574700017756_ref010","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900305"},{"key":"S0263574700017756_ref004","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(91)90025-A"},{"key":"S0263574700017756_ref013","volume-title":"Robust Tracking Control of Robot Manipulators","author":"Qu","year":"1995"},{"key":"S0263574700017756_ref008","unstructured":"8. Nicosia S. , Tornambe A. and Valigi P. , \u201cExperimental results in state estimation of industrial robots\u201d Proceedings of the 29th CDC, Honolulu, Hawaii (1990) pp. 360\u2013365."},{"key":"S0263574700017756_ref007","first-page":"1058","article-title":"Robot control by using only joint position measurements","volume":"36","author":"Nicosia","year":"1991","journal-title":"IEEE Trans. Automat. Contr."},{"key":"S0263574700017756_ref002","doi-asserted-by":"crossref","unstructured":"2. Wang X. and Chen L. K. , \u201cProving the uniform boundedness of some commonly used control schemes for robots\u201d Proceedings of 1989 IEEE Conference on Robotics and Automation 1989 (1491\u20131496).","DOI":"10.1109\/ROBOT.1989.100190"},{"key":"S0263574700017756_ref003","doi-asserted-by":"publisher","DOI":"10.1080\/00207179008953554"},{"key":"S0263574700017756_ref014","unstructured":"Wen J. and Murphy S. , \u201cPID control for robot manipulators\u201d CIRSSE, Report 54 (05, 1990)."},{"key":"S0263574700017756_ref001","volume-title":"Robot Control: The Task Function Approach","author":"Samson","year":"1990"},{"key":"S0263574700017756_ref015","unstructured":"Integrated Motion Incorporated, Direct Drive Research & Development Manipulator Package (1992)."},{"key":"S0263574700017756_ref011","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1989"},{"key":"S0263574700017756_ref009","volume-title":"Adaptive Control of Mechanical Manipulators","author":"Craig","year":"1988"},{"key":"S0263574700017756_ref006","first-page":"228","article-title":"Robust PID control of Robots","volume":"6","author":"Qu","year":"1991","journal-title":"Int. J. Robotics and Automation"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700017756","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:54:12Z","timestamp":1738990452000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700017756\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,5]]},"references-count":15,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1995,5]]}},"alternative-id":["S0263574700017756"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700017756","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,5]]}}}