{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,24]],"date-time":"2026-01-24T07:52:47Z","timestamp":1769241167575,"version":"3.49.0"},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T00:00:00Z","timestamp":1632787200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article introduces a robust adaptive controller\u2013observer structure for robotic manipulators such that the need for joints speed measurement is removed. Besides, it is presumed that the system model has uncertainties and is subject to disturbances, and the proposed method must eliminate the impact of these factors on the system response. According to this, for the first time in the robotics field, a model-free scheme is developed based on the Bernstein\u2013Stancu polynomial. The universal approximation property of the Bernstein\u2013Stancu polynomial enables it to accurately estimate the lumped uncertainty, including unmodeled dynamics and disturbances. Moreover, to increase the efficiency of the controller\u2013observer structure, adaptive rules have been proposed to update polynomial coefficients. The boundedness of all system errors is proven using the Lyapunov theorem. Finally, the proposed robust Adaptive controller\u2013observer is applied on a planer robot, and the results are precisely analyzed. The results of the proposed approach are also compared with two state-of-art powerful approximation methods.<\/jats:p>","DOI":"10.1017\/s0263574721001120","type":"journal-article","created":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T07:17:16Z","timestamp":1632813436000},"page":"1309-1325","source":"Crossref","is-referenced-by-count":14,"title":["Robust adaptive controller\u2013observer scheme for robot manipulators: a Bernstein\u2013Stancu approach"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5644-1735","authenticated-orcid":false,"given":"Alireza","family":"Izadbakhsh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nazila","family":"Nikdel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,9,28]]},"reference":[{"key":"S0263574721001120_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.07.004"},{"key":"S0263574721001120_ref32","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.1021"},{"key":"S0263574721001120_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.12.121"},{"key":"S0263574721001120_ref10","volume-title":"Passivity-based control of Euler-Lagrange systems: Mechanical, electrical and electromechanical applications","author":"Ortega","year":"2013"},{"key":"S0263574721001120_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0686-3"},{"key":"S0263574721001120_ref30","first-page":"1","article-title":"Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots","author":"Izadbakhsh","year":"2020","journal-title":"Robotica"},{"key":"S0263574721001120_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/48.855403"},{"key":"S0263574721001120_ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s42835-019-00281-z"},{"key":"S0263574721001120_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-020-2172-2"},{"key":"S0263574721001120_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-017-3454-9"},{"key":"S0263574721001120_ref29","first-page":"1173","article-title":"Approximation of functions by a new class of linear polynomial operators","volume":"13","author":"Stancu","year":"1968","journal-title":"Rev. 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