{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:45:13Z","timestamp":1766137513572,"version":"3.37.3"},"reference-count":42,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T00:00:00Z","timestamp":1598227200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Special Program for Key Field of Guangdong Colleges","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Scientific and Technical Supporting Programs of Sichuan Province","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}]},{"name":"Scientific and Technical Supporting Programs of Sichuan Province","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}]},{"name":"Scientific and Technical Supporting Programs of Sichuan Province","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}]},{"DOI":"10.13039\/501100007162","name":"Guangdong Science and Technology Department","doi-asserted-by":"publisher","award":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"],"award-info":[{"award-number":["61941301","61573108","U1613223","U1501251","2018M633353","2016A030313715","2016A030313018","2019KZDZX1037","ZYGX2016J140","2016GZ0395","2017GZ0391,","2017GZ0392","2019B090910001"]}],"id":[{"id":"10.13039\/501100007162","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2020,8,24]]},"abstract":"<jats:p>In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.<\/jats:p>","DOI":"10.1155\/2020\/5070354","type":"journal-article","created":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T23:32:57Z","timestamp":1598311977000},"page":"1-12","source":"Crossref","is-referenced-by-count":9,"title":["Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties"],"prefix":"10.1155","volume":"2020","author":[{"given":"Bing","family":"Zhou","sequence":"first","affiliation":[{"name":"School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, Zhongshan, Guangdong 528402, China"},{"name":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5674-5496","authenticated-orcid":true,"given":"Liang","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, Zhongshan, Guangdong 528402, China"},{"name":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengdong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4580-8655","authenticated-orcid":true,"given":"Yong","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6252-5502","authenticated-orcid":true,"given":"Kairui","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, Guangdong 510006, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.01.047"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2013.801098"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3172431"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2019.2895588"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-018-0767-5"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2019.2922450"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2018.2869347"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/jas.2019.1911402"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2017.2782246"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2015.1218"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2522386"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/tra.2003.820932"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2015.2477606"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.07.003"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/tra.2003.814517"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2006.890321"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2005.844674"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.01.025"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2006.876943"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.2316\/journal.206.2008.2.206-3102"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/1406534"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.02.029"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2569068"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2016.2575827"},{"year":"2005","key":"30"},{"key":"31","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2018.2809514"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1016\/j.amc.2018.06.022"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2019.2946895"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/7131562"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2017.2699158"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2018.2870661"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2018.2869375"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2013.2254001"},{"year":"2006","key":"39"},{"year":"1991","key":"40"},{"key":"42","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.06.007"},{"volume":"55","journal-title":"Siam","year":"1975","key":"43"},{"year":"2000","key":"44"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2019.2905715"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2019.04.027"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2019.06.044"},{"key":"48","doi-asserted-by":"publisher","DOI":"10.1016\/j.amc.2019.124631"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/5070354.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/5070354.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/5070354.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T23:33:07Z","timestamp":1598311987000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/5070354\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,24]]},"references-count":42,"alternative-id":["5070354","5070354"],"URL":"https:\/\/doi.org\/10.1155\/2020\/5070354","relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2020,8,24]]}}}