{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T04:07:15Z","timestamp":1773720435982,"version":"3.50.1"},"reference-count":43,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2023,8,9]],"date-time":"2023-08-09T00:00:00Z","timestamp":1691539200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"Science and Technology Development Fund, Macau SAR","award":["0018\/2019\/AKP, 0008\/2019\/AGJ"],"award-info":[{"award-number":["0018\/2019\/AKP, 0008\/2019\/AGJ"]}]},{"DOI":"10.13039\/501100021171","name":"Guangdong Basic and Applied Basic Research Foundation","doi-asserted-by":"publisher","award":["2020B1515130001"],"award-info":[{"award-number":["2020B1515130001"]}],"id":[{"id":"10.13039\/501100021171","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ministry of Science and Technology of China","award":["2019YFB1600700"],"award-info":[{"award-number":["2019YFB1600700"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2024,4]]},"abstract":"<jats:p> Robot manipulators as an indispensable part of automatic operation are becoming increasingly important in intelligent manufacturing systems, such as grinding and assembly. Although control methods of robot manipulators have been extensively studied, high-precision robots still face new challenges from uncertainties caused by changes in the environment and enhancement of interference. As a consequence, the neural network-based observer is utilized to reduce the influence of uncertainties and external disturbances. In this work, a new kind of nonlinear disturbance observer is designed which could well function with observed states. To improve the control efficiency and response characteristic, a kind of new integral sliding manifold is devised and the control input is generated via backstepping techniques. The stability is proved with Lyapunov theory, and the experimental results are given to demonstrate the effectiveness of the proposed controller. <\/jats:p>","DOI":"10.1177\/01423312231190169","type":"journal-article","created":{"date-parts":[[2023,8,9]],"date-time":"2023-08-09T11:05:42Z","timestamp":1691579142000},"page":"1093-1104","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Design and implementation of an adaptive neural network observer\u2013based backstepping sliding mode controller for robot manipulators"],"prefix":"10.1177","volume":"46","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1152-5569","authenticated-orcid":false,"given":"Rui-Dong","family":"Xi","sequence":"first","affiliation":[{"name":"State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering, University of Macau, China"},{"name":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, China"}]},{"given":"Tie-Nan","family":"Ma","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering, University of Macau, China"}]},{"given":"Xiao","family":"Xiao","sequence":"additional","affiliation":[{"name":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, China"},{"name":"Yuanhua Robotics, Perception & AI Technologies Ltd., China"}]},{"given":"Zhi-Xin","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering, University of Macau, China"}]}],"member":"179","published-online":{"date-parts":[[2023,8,9]]},"reference":[{"key":"bibr1-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/01423312211022449"},{"key":"bibr2-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-017-0710-1"},{"key":"bibr3-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2455053"},{"key":"bibr4-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2012.09.009"},{"key":"bibr5-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.803534"},{"key":"bibr6-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2004.839034"},{"key":"bibr7-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/41.857974"},{"key":"bibr8-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2019.06.083"},{"key":"bibr9-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/87.772157"},{"key":"bibr10-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00147-4"},{"key":"bibr11-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2004.826130"},{"key":"bibr12-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/0142331219826664"},{"key":"bibr13-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2007.910740"},{"key":"bibr14-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2698416"},{"key":"bibr15-01423312231190169","doi-asserted-by":"publisher","DOI":"10.3390\/mi13030458"},{"key":"bibr16-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/01423312211025330"},{"key":"bibr17-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104109"},{"key":"bibr18-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2012.10.008"},{"key":"bibr19-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/0142331220941653"},{"key":"bibr20-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108515"},{"key":"bibr21-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104026"},{"key":"bibr22-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-019-0154-x"},{"key":"bibr23-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9843-5"},{"key":"bibr24-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2677299"},{"key":"bibr25-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2011.03.015"},{"key":"bibr26-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/0142331219841426"},{"key":"bibr27-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1996.577594"},{"key":"bibr28-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2555307"},{"key":"bibr29-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2782246"},{"key":"bibr30-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.cnsns.2008.08.013"},{"key":"bibr31-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/AIM43001.2020.9158859"},{"key":"bibr32-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3164448"},{"key":"bibr33-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1177\/0142331214528971"},{"key":"bibr34-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.07.001"},{"key":"bibr35-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/81.983876"},{"key":"bibr36-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.08.003"},{"key":"bibr37-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.1361"},{"key":"bibr38-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.2972322"},{"key":"bibr39-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.3048722"},{"key":"bibr40-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3139134"},{"key":"bibr41-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.3040667"},{"key":"bibr42-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-020-0920-9"},{"key":"bibr43-01423312231190169","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1996.577601"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312231190169","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/01423312231190169","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312231190169","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T08:28:08Z","timestamp":1740817688000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/01423312231190169"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,9]]},"references-count":43,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["10.1177\/01423312231190169"],"URL":"https:\/\/doi.org\/10.1177\/01423312231190169","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8,9]]}}}