{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T15:15:49Z","timestamp":1753888549713,"version":"3.40.5"},"reference-count":44,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"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":[[2022,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper investigates the trajectory tracking problem of uncertain robot manipulators with input saturation and output constraints. Uncertainty and disturbance estimator (UDE) is used to tackle the model uncertainties and external disturbances. Different from most existing methods, UDE only needs the bandwidth of the unknown plant model for design, which makes it easy to be implemented. Nonlinear state-dependent function is employed to cope with output constraints and a second order auxiliary system is constructed to solve the input saturation. Finally, an UDE-based tracking controller is proposed based on the backstepping method. With the proposed control scheme, the input saturation and the output constraints are not violated, and all signals in the closed-loop system are bounded. The comparative simulation results of a two-link robot manipulator are utilized to validate the effectiveness and superiority of the proposed control method.<\/jats:p>","DOI":"10.1017\/s0263574722000479","type":"journal-article","created":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T08:13:51Z","timestamp":1648800831000},"page":"3651-3668","source":"Crossref","is-referenced-by-count":5,"title":["UDE-based task space tracking control of uncertain robot manipulator with input saturation and output constraint"],"prefix":"10.1017","volume":"40","author":[{"given":"Yuxiang","family":"Wu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0294-4123","authenticated-orcid":false,"given":"Fuxi","family":"Wan","sequence":"additional","affiliation":[]},{"given":"Tian","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Haoran","family":"Fang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,4,1]]},"reference":[{"key":"S0263574722000479_ref34","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000588"},{"key":"S0263574722000479_ref40","doi-asserted-by":"publisher","DOI":"10.1177\/0142331220908987"},{"key":"S0263574722000479_ref18","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.1648"},{"key":"S0263574722000479_ref41","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.2305"},{"key":"S0263574722000479_ref27","first-page":"307","article-title":"Robust adaptive control for robot manipulator in task space","volume":"3","author":"Feng","year":"1994","journal-title":"Automat. Contr. - World Cong."},{"key":"S0263574722000479_ref33","doi-asserted-by":"publisher","DOI":"10.1177\/1077546318758800"},{"key":"S0263574722000479_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2017.8324494"},{"key":"S0263574722000479_ref28","volume-title":"16th International Conference on Control, Automation and Systems, ICCAS 2016","volume":"0","author":"Nam","year":"October 16, 2016"},{"key":"S0263574722000479_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2012.01.001"},{"key":"S0263574722000479_ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2019.12.015"},{"key":"S0263574722000479_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2920599"},{"key":"S0263574722000479_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2845707"},{"key":"S0263574722000479_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2856747"},{"key":"S0263574722000479_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s40815-018-0569-1"},{"key":"S0263574722000479_ref17","doi-asserted-by":"crossref","unstructured":"[17] Liu, C. , Zhao, Z. and Wen, G. , \u201dAdaptive neural network control with optimal number of hidden nodes for trajectory tracking of robot manipulators,\u201d Neurocomputing , 350, 136\u2013145 (2019).","DOI":"10.1016\/j.neucom.2019.03.043"},{"key":"S0263574722000479_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2575827"},{"key":"S0263574722000479_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2020.104670"},{"key":"S0263574722000479_ref2","article-title":"Adaptive neural network tracking control for robotic manipulators with dead zone","volume":"30","author":"Zhou","journal-title":"IEEE Trans. Neural Netw. Learn. Syst"},{"key":"S0263574722000479_ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.10.034"},{"key":"S0263574722000479_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/70.388790"},{"key":"S0263574722000479_ref20","doi-asserted-by":"publisher","DOI":"10.12928\/telkomnika.v12i2.72"},{"key":"S0263574722000479_ref19","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2017\/4275201","article-title":"Task space trajectory tracking control of robot manipulators with uncertain kinematics and dynamics","volume":"2017","author":"Liang","year":"2017","journal-title":"Math. Probl. Eng."},{"key":"S0263574722000479_ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2018.04.003"},{"key":"S0263574722000479_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2411285"},{"key":"S0263574722000479_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.fss.2004.11.012"},{"key":"S0263574722000479_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2017.02.004"},{"key":"S0263574722000479_ref43","doi-asserted-by":"crossref","first-page":"9589","DOI":"10.1109\/TVT.2020.3003326","article-title":"Adaptive sliding mode-based lateral stability control of steer-by-wire vehicles with experimental validations","volume":"69","author":"etal","year":"2020","journal-title":"IEEE Trans. Veh. Technol."},{"key":"S0263574722000479_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2006.372236"},{"key":"S0263574722000479_ref6","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2019.1622818"},{"key":"S0263574722000479_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2767566"},{"key":"S0263574722000479_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.10.009"},{"volume-title":"Mathematical Problems in Engineering","year":"2021","author":"Liu","key":"S0263574722000479_ref22"},{"key":"S0263574722000479_ref13","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2015.1135351"},{"key":"S0263574722000479_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2711961"},{"key":"S0263574722000479_ref31","first-page":"2634","article-title":"The composite hierarchical control of multi-link multi-DOF space manipulator based on UDE and improved sliding mode control","volume":"229","author":"Chu","year":"2015","journal-title":"Proc. Inst. Mech. Eng. G J. Aerosp. Eng"},{"key":"S0263574722000479_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.01.072"},{"key":"S0263574722000479_ref7","first-page":"1","article-title":"Disturbance-observer-based fuzzy control for a robot manipulator using an EMG-driven neuromusculoskeletal model","volume":"2020","author":"Zhang","year":"2020","journal-title":"Complexity"},{"key":"S0263574722000479_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2466194"},{"key":"S0263574722000479_ref44","doi-asserted-by":"crossref","first-page":"2291","DOI":"10.1007\/s11071-021-06380-9","article-title":"Robust control of reaction wheel bicycle robot via adaptive integral terminal sliding mode","volume":"104","author":"etal","year":"2021","journal-title":"Nonlinear Dynam"},{"key":"S0263574722000479_ref30","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1823"},{"key":"S0263574722000479_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2748418"},{"key":"S0263574722000479_ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.1850529"},{"key":"S0263574722000479_ref38","first-page":"2060","article-title":"Neural network controller design for an uncertain robot with time-varying output constraint","volume":"47","author":"Liu","year":"2017","journal-title":"IEEE Trans. Syst"},{"key":"S0263574722000479_ref42","first-page":"95","article-title":"ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space","volume":"47","author":"Asar","year":"2019","journal-title":"Syst. Dynam"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000479","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,21]],"date-time":"2024-09-21T11:53:13Z","timestamp":1726919593000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000479\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,1]]},"references-count":44,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["S0263574722000479"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000479","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2022,4,1]]}}}