{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T18:16:27Z","timestamp":1766600187630},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2000,3,1]],"date-time":"2000-03-01T00:00:00Z","timestamp":951868800000},"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":[[2000,3]]},"abstract":"<jats:p>This paper addresses the link position setpoint control problem of <jats:italic>n\u2013link<\/jats:italic> robotic manipulators with amplitude-limited control inputs. We design a global-asymptotic exact model knowledge controller and a semi-global asymptotic \ncontroller which adapts for parametric uncertainty. Explicit bounds for these controllers can be determined; hence, the required input torque can be calculated <jats:italic>a priori<\/jats:italic> so that actuator saturation can be avoided. We also illustrate how the proposed control algorithm in \nthis paper can be slightly modified to produce a proportional-integral-derivative (PID) controller which contains a saturated integral term. Experimental results are provided to illustrate the improved performance of the proposed control strategy over a standard adaptive controller that has been artificially limited to account for torque saturation.<\/jats:p>","DOI":"10.1017\/s0263574799001988","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"171-181","source":"Crossref","is-referenced-by-count":58,"title":["Adaptive set\u2013point control of robotic manipulators with amplitude\u2013limited control inputs"],"prefix":"10.1017","volume":"18","author":[{"given":"E.","family":"Zergeroglu","sequence":"first","affiliation":[]},{"given":"W.","family":"Dixon","sequence":"additional","affiliation":[]},{"given":"A.","family":"Behal","sequence":"additional","affiliation":[]},{"given":"D.","family":"Dawson","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2000,3,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799001988","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T16:24:07Z","timestamp":1567441447000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799001988\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,3]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2000,3]]}},"alternative-id":["S0263574799001988"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799001988","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,3]]}}}