{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:15:07Z","timestamp":1740140107676,"version":"3.37.3"},"reference-count":38,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","funder":[{"DOI":"10.13039\/501100001809","name":"NSFC","doi-asserted-by":"crossref","award":["62073268"],"award-info":[{"award-number":["62073268"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2021,4]]},"abstract":"<jats:p> In this paper, the sensorless force\/position control problem is investigated for a general class of dynamic contact systems with both motion sensor noise and unknown kinetic friction by designing a force observer-based controller. Firstly, in order to suppress the effect of motion sensor noise, a dead-zone extended state observer (ESO) is introduced, and the contact force is estimated. Then, based on the force estimate, a controller is designed to realize force\/position tracking control, where the parameters of the observer and controller are obtained by a linear matrix inequality (LMI) method. The sufficient conditions are provided to ensure the stability of the closed-loop system in terms of LMIs. Finally, a numerical simulation is carried out to illustrate the applicability and effectiveness of the proposed method. <\/jats:p>","DOI":"10.1142\/s0219843621500092","type":"journal-article","created":{"date-parts":[[2021,6,11]],"date-time":"2021-06-11T07:07:35Z","timestamp":1623395255000},"page":"2150009","source":"Crossref","is-referenced-by-count":0,"title":["Dead-Zone ESO Based Sensorless Force\/Position Control for Dynamic Contact Systems"],"prefix":"10.1142","volume":"18","author":[{"given":"Mingchao","family":"Wang","sequence":"first","affiliation":[{"name":"The National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, 127 You Yi West Road, Xi\u2019an 710072, P. R. China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7964-6514","authenticated-orcid":false,"given":"Yuan","family":"Yuan","sequence":"additional","affiliation":[{"name":"The School of Astronautics, Northwestern Polytechnical University, 127 You Yi West Road, Xi\u2019an 710072, P. 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