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To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach.<\/jats:p>","DOI":"10.1017\/s0263574722001874","type":"journal-article","created":{"date-parts":[[2023,1,17]],"date-time":"2023-01-17T04:14:15Z","timestamp":1673928855000},"page":"1550-1567","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive robust control for Pendubot with matched\u2013mismatched uncertainty via constraint-following"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4513-0875","authenticated-orcid":false,"given":"Cui","family":"Wei","sequence":"first","affiliation":[]},{"given":"Ye-Hwa","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Tianyou","family":"Chai","sequence":"additional","affiliation":[]},{"given":"Jun","family":"Fu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,1,17]]},"reference":[{"key":"S0263574722001874_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2262747"},{"key":"S0263574722001874_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3055159"},{"key":"S0263574722001874_ref19","first-page":"1146","article-title":"Compensation signal driven adaptive balance control of the Pendubot","volume":"45","author":"Wei","year":"2019","journal-title":"Acta Autom. 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