{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T12:29:28Z","timestamp":1782390568930,"version":"3.54.5"},"reference-count":42,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T00:00:00Z","timestamp":1632268800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:p>Euler\u2013Lagrange mechanical systems usually possess nonlinear models, which are subject to uncertainties and unknown disturbances. In this article, a robust but smooth controller is proposed, relying on a high-gain proportional\u2013integral structure that renders an accurate tracking, even in the case of uncertain effects. The tracking performance can be improved by adjusting a single parameter, deriving into a prescribed stability regime, where the tracking errors are locally uniformly ultimately bounded, and where the controller depends on a change of coordinates that integrates the proportional, integral, and derivative information of the tracking error. The advantages of this proposal become evident without considering an intricate implementation procedure. Numerical results are provided to highlight the reliability of the proposed method.<\/jats:p>","DOI":"10.1177\/09596518211046692","type":"journal-article","created":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T07:47:35Z","timestamp":1632296855000},"page":"857-869","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["High-gain PI-like control of Euler\u2013Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators"],"prefix":"10.1177","volume":"236","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5125-2644","authenticated-orcid":false,"given":"Aldo-Jonathan","family":"Mu\u00f1oz-V\u00e1zquez","sequence":"first","affiliation":[{"name":"Department of Multidisciplinary Engineering, Texas A&M University Higher Education Center at McAllen, McAllen, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vicente","family":"Parra-Vega","sequence":"additional","affiliation":[{"name":"Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (Cinvestav), Saltillo, Coahuila, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anand","family":"S\u00e1nchez-Orta","sequence":"additional","affiliation":[{"name":"Department of Robotics and Advanced Manufacturing, Research Center for Advanced Studies (Cinvestav), Saltillo, Coahuila, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juan Diego","family":"S\u00e1nchez-Torres","sequence":"additional","affiliation":[{"name":"Research Laboratory on Optimal Design, Devices and Advanced Materials, Department of Mathematics and Physics, ITESO, Tlaquepaque, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,9,22]]},"reference":[{"key":"bibr1-09596518211046692","volume-title":"Robust tracking control of robot manipulators","author":"Qu Z","year":"1995"},{"key":"bibr2-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400205"},{"key":"bibr3-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.173151"},{"key":"bibr4-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1080\/00207179008953554"},{"key":"bibr5-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2062472"},{"key":"bibr6-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1007\/BF00435728"},{"key":"bibr7-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/70.370505"},{"key":"bibr8-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4556"},{"key":"bibr9-09596518211046692","first-page":"556","volume-title":"IEEE international symposium on intelligent control","author":"Purwar S"},{"key":"bibr10-09596518211046692","first-page":"3691","volume-title":"IEEE conference on decision and control","author":"Capisani LM"},{"key":"bibr11-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.819600"},{"key":"bibr12-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600303"},{"key":"bibr13-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.14411"},{"key":"bibr14-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2522386"},{"key":"bibr15-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2017.01.005"},{"key":"bibr16-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2698416"},{"key":"bibr17-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2017.1299812"},{"key":"bibr18-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2782246"},{"key":"bibr19-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1177\/1687814016628492"},{"key":"bibr20-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700017641"},{"key":"bibr21-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.701091"},{"key":"bibr22-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.402235"},{"key":"bibr23-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1177\/1077546313510729"},{"key":"bibr24-09596518211046692","first-page":"1123","volume":"20","author":"Bing\u00fcl Z","year":"2012","journal-title":"Turk J Electr Eng Co"},{"key":"bibr25-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1177\/1077546313504979"},{"key":"bibr26-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/0167-8493(87)90051-9"},{"key":"bibr27-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1080\/002071799220137"},{"key":"bibr28-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/37.67672"},{"key":"bibr29-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1996.577594"},{"key":"bibr30-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906340"},{"key":"bibr31-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1002\/acs.4480020409"},{"key":"bibr32-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(89)90121-7"},{"key":"bibr33-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(97)00111-8"},{"key":"bibr34-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1080\/002071797223839"},{"key":"bibr35-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.964682"},{"key":"bibr36-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3051"},{"key":"bibr37-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4240"},{"issue":"1","key":"bibr38-09596518211046692","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1002\/rnc.3077","volume":"25","author":"Dasdemir J","year":"2015","journal-title":"Int J Robust Nonlin"},{"key":"bibr39-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/S0960-0779(99)00012-0"},{"key":"bibr40-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1109\/9.100932"},{"key":"bibr41-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.551"},{"key":"bibr42-09596518211046692","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(97)00209-4"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518211046692","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/09596518211046692","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518211046692","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:41:28Z","timestamp":1777675288000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/09596518211046692"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,22]]},"references-count":42,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["10.1177\/09596518211046692"],"URL":"https:\/\/doi.org\/10.1177\/09596518211046692","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,22]]}}}