{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:42:43Z","timestamp":1777927363228,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2022,3,7]],"date-time":"2022-03-07T00:00:00Z","timestamp":1646611200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173207, 62073187, 62073189"],"award-info":[{"award-number":["62173207, 62073187, 62073189"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100018532","name":"major scientific and technological innovation project of shandong province","doi-asserted-by":"publisher","award":["2019JZZY011111"],"award-info":[{"award-number":["2019JZZY011111"]}],"id":[{"id":"10.13039\/501100018532","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key Laboratory for Robot and Intelligent Technology of Shandong Province"}],"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":[[2022,7]]},"abstract":"<jats:p>In this study, a nonlinear tracking controller is designed for a flexible-joint (FJ) robotic manipulator system subject to full-state constraints and external disturbances. First, a nonlinear disturbance observer (NDO) is introduced to guarantee that the respective disturbance can be estimated asymptotically. Then, state-dependent function (SDF) transformations are used to convert the original state-constrained system into a new unconstrained system. Subsequently, a NDO-based tracking controller is proposed to enable the output tracking error to converge to a predefined compact set that can be adjusted to be arbitrarily small. The boundedness of all the closed-loop system signals is rigorously proved. Finally, simulation results are presented that show the effectiveness of the proposed control algorithm.<\/jats:p>","DOI":"10.1177\/09596518221080685","type":"journal-article","created":{"date-parts":[[2022,3,7]],"date-time":"2022-03-07T05:10:06Z","timestamp":1646629806000},"page":"1166-1175","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Disturbance-observer-based tracking controller for a flexible-joint robotic manipulator with full-state constraints"],"prefix":"10.1177","volume":"236","author":[{"given":"Linran","family":"Tian","sequence":"first","affiliation":[{"name":"School of Engineering, Qufu Normal University, Rizhao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Engineering, Qufu Normal University, Rizhao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3123-868X","authenticated-orcid":false,"given":"Zhongcai","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Engineering, Qufu Normal University, Rizhao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,3,7]]},"reference":[{"key":"bibr1-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20019"},{"key":"bibr2-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2010.0166"},{"key":"bibr3-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2015.07.036"},{"key":"bibr4-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2005.863458"},{"key":"bibr5-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/37.41450"},{"key":"bibr6-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(94)00172-F"},{"key":"bibr7-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.nonrwa.2012.07.010"},{"key":"bibr8-09596518221080685","doi-asserted-by":"publisher","DOI":"10.2514\/1.G000197"},{"key":"bibr9-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1177\/0959651818815384"},{"key":"bibr10-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2504552"},{"key":"bibr11-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2015.1129677"},{"issue":"11","key":"bibr12-09596518221080685","first-page":"222","volume":"2013","author":"Miao Z","journal-title":"J Control Theory Appl"},{"key":"bibr13-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2014.929746"},{"key":"bibr14-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/3516.491410"},{"key":"bibr15-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4485"},{"key":"bibr16-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/41.857974"},{"issue":"1","key":"bibr17-09596518221080685","first-page":"277","volume":"60","author":"Lu B","year":"2018","journal-title":"IEEE T Automat Contr"},{"key":"bibr18-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2868026"},{"key":"bibr19-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2477957"},{"key":"bibr20-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2000981"},{"key":"bibr21-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.06.063"},{"key":"bibr22-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2867163"},{"key":"bibr23-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2019.2898901"},{"key":"bibr24-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2017.2785255"},{"key":"bibr25-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2777472"},{"key":"bibr26-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.03.033"},{"key":"bibr27-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.07.028"},{"key":"bibr28-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2870642"},{"key":"bibr29-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2018.2803167"},{"key":"bibr30-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108608"},{"key":"bibr31-09596518221080685","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2845707"}],"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\/09596518221080685","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/09596518221080685","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518221080685","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:42:08Z","timestamp":1777675328000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/09596518221080685"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,7]]},"references-count":31,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2022,7]]}},"alternative-id":["10.1177\/09596518221080685"],"URL":"https:\/\/doi.org\/10.1177\/09596518221080685","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,7]]}}}