{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T15:14:40Z","timestamp":1779203680863,"version":"3.51.4"},"reference-count":21,"publisher":"Fuji Technology Press Ltd.","issue":"3","funder":[{"DOI":"10.13039\/100017221","name":"State Grid Fujian Electric Power Company","doi-asserted-by":"publisher","award":["52130423000T"],"award-info":[{"award-number":["52130423000T"]}],"id":[{"id":"10.13039\/100017221","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JACIII","J. Adv. Comput. Intell. Intell. Inform."],"published-print":{"date-parts":[[2026,5,20]]},"abstract":"<jats:p>The position control system of servo motors plays a critical role in achieving high-precision and reliable actuation in robotic applications. This study focuses on developing a prescribed-performance robust control strategy for permanent magnet synchronous motor position regulation under uncertainties. An adaptive robust controller (ARC) is, firstly, designed by means of a bounded estimation technique to address parameter uncertainties in servo systems. The controller gains and adaptive law are derived through a rigorous stability analysis, ensuring guaranteed stable position tracking. Meanwhile, a prescribed performance approach is constructed based on control barrier functions (CBFs), enabling real-time correction of the control input via a quadratic programming optimization to guarantee prescribed transient and steady-state tracking performance. Furthermore, the robust safety of the proposed CBF-based ARC method is demonstrated by quantitatively bounding the parameter estimation errors. Compared with existing methods, simulation and experimental results are conducted to confirm the effectiveness and superior performance of the proposed method.<\/jats:p>","DOI":"10.20965\/jaciii.2026.p0653","type":"journal-article","created":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T15:02:09Z","timestamp":1779202929000},"page":"653-662","source":"Crossref","is-referenced-by-count":0,"title":["Flexible and Safe Robust Position Control of PMSM Servo Drives for Robotic Systems with Unknown Uncertainties"],"prefix":"10.20965","volume":"30","author":[{"given":"Huixin","family":"Liu","sequence":"first","affiliation":[{"name":"Electric Power Research Institute, State Grid Corporation of China, No.48 Fuyuan Branch Road, Cangshan District, Fuzhou, Fujian 350007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yonghua","family":"Lai","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute, State Grid Corporation of China, No.48 Fuyuan Branch Road, Cangshan District, Fuzhou, Fujian 350007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongsong","family":"Lian","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute, State Grid Corporation of China, No.48 Fuyuan Branch Road, Cangshan District, Fuzhou, Fujian 350007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guobin","family":"Wang","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute, State Grid Corporation of China, No.48 Fuyuan Branch Road, Cangshan District, Fuzhou, Fujian 350007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dongsheng","family":"Zheng","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute, State Grid Corporation of China, No.48 Fuyuan Branch Road, Cangshan District, Fuzhou, Fujian 350007, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"8550","published-online":{"date-parts":[[2026,5,20]]},"reference":[{"key":"key-10.20965\/jaciii.2026.p0653-1","doi-asserted-by":"crossref","unstructured":"H. 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Li, \u201cA novel predictive position control with current and speed limits for PMSM drives based on weighting factors elimination,\u201d IEEE Trans. on Industrial Electronics, Vol.69, No.12, pp. 12458-12468, 2022. https:\/\/doi.org\/10.1109\/TIE.2021.3139180","DOI":"10.1109\/TIE.2021.3139180"},{"key":"key-10.20965\/jaciii.2026.p0653-4","doi-asserted-by":"crossref","unstructured":"R. P. Borase, D. K. Maghade, S. Y. Sondkar, and S. N. Pawar, \u201cA review of PID control, tuning methods and applications,\u201d Int. J. of Dynamics and Control, Vol.9, No.2, pp. 818-827, 2021. https:\/\/doi.org\/10.1007\/s40435-020-00665-4","DOI":"10.1007\/s40435-020-00665-4"},{"key":"key-10.20965\/jaciii.2026.p0653-5","doi-asserted-by":"crossref","unstructured":"M. Y. Coskun and M. \u0130tik, \u201cIntelligent PID control of an industrial electro-hydraulic system,\u201d ISA Trans., Vol.139, pp. 484-498, 2023. https:\/\/doi.org\/10.1016\/j.isatra.2023.04.005","DOI":"10.1016\/j.isatra.2023.04.005"},{"key":"key-10.20965\/jaciii.2026.p0653-6","doi-asserted-by":"crossref","unstructured":"L. Wu, J. Liu, S. Vazquez, and S. K. Mazumder, \u201cSliding mode control in power converters and drives: A review,\u201d IEEE\/CAA J. of Automatica Sinica, Vol.9, No.3, pp. 392-406, 2022. https:\/\/doi.org\/10.1109\/JAS.2021.1004380","DOI":"10.1109\/JAS.2021.1004380"},{"key":"key-10.20965\/jaciii.2026.p0653-7","doi-asserted-by":"crossref","unstructured":"W. He, S. Liu, Z. Zhao, and K. Jie, \u201cPosition control of machine tool moving axis based on sliding mode control,\u201d J. Adv. Comput. Intell. Intell. 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Wang, and E. Rogers, \u201cModel predictive control of a permanent magnet synchronous motor with experimental validation,\u201d Control Engineering Practice, Vol.21, No.11, pp. 1584-1593, 2013. https:\/\/doi.org\/10.1016\/j.conengprac.2013.07.008","DOI":"10.1016\/j.conengprac.2013.07.008"},{"key":"key-10.20965\/jaciii.2026.p0653-11","doi-asserted-by":"crossref","unstructured":"H. Chang, S. Lu, S. Zheng, B. Song, and J. Yang, \u201cIntegration of predictive control and interconnected structure for autotuning velocity controller,\u201d IEEE\/ASME Trans. on Mechatronics, Vol.28, No.6, pp. 3250-3262, 2023. https:\/\/doi.org\/10.1109\/TMECH.2023.3262558","DOI":"10.1109\/TMECH.2023.3262558"},{"key":"key-10.20965\/jaciii.2026.p0653-12","doi-asserted-by":"crossref","unstructured":"M. H. Nguyen, H. V. Dao, and K. K. Ahn, \u201cAdaptive robust position control of electro-hydraulic servo systems with large uncertainties and disturbances,\u201d Applied Sciences, Vol.12, No.2, Article No.794, 2022. https:\/\/doi.org\/10.3390\/app12020794","DOI":"10.3390\/app12020794"},{"key":"key-10.20965\/jaciii.2026.p0653-13","doi-asserted-by":"crossref","unstructured":"J. Liu, J. Yang, and S. Li, \u201cSingle-loop robust predictive speed control of PMSM system with overcurrent protection: A disturbance preview approach,\u201d 2021 IEEE Int. Conf. on Predictive Control of Electrical Drives and Power Electronics, pp. 645-650, 2021. https:\/\/doi.org\/10.1109\/PRECEDE51386.2021.9680959","DOI":"10.1109\/PRECEDE51386.2021.9680959"},{"key":"key-10.20965\/jaciii.2026.p0653-14","doi-asserted-by":"crossref","unstructured":"Q. Zhang, R. Yu, C. Li, Y.-H. Chen, and J. Gu, \u201cServo robust control of uncertain mechanical systems: Application in a compressor\/PMSM system,\u201d Actuators, Vol.11, No.2, Article No.42, 2022. https:\/\/doi.org\/10.3390\/act11020042","DOI":"10.3390\/act11020042"},{"key":"key-10.20965\/jaciii.2026.p0653-15","doi-asserted-by":"crossref","unstructured":"J. Na, Q. Chen, X. Ren, and Y. Guo, \u201cAdaptive prescribed performance motion control of servo mechanisms with friction compensation,\u201d IEEE Trans. on Industrial Electronics, Vol.61, No.1, pp. 486-494, 2014. https:\/\/doi.org\/10.1109\/TIE.2013.2240635","DOI":"10.1109\/TIE.2013.2240635"},{"key":"key-10.20965\/jaciii.2026.p0653-16","doi-asserted-by":"crossref","unstructured":"X. Wang, X. Wang, Z. Wang, X. Xiao, and S. Li, \u201cComposite finite-time control for PMSM with prescribed performance using disturbance compensation technique,\u201d Control Engineering Practice, Vol.141, Article No.105677, 2023. https:\/\/doi.org\/10.1016\/j.conengprac.2023.105677","DOI":"10.1016\/j.conengprac.2023.105677"},{"key":"key-10.20965\/jaciii.2026.p0653-17","doi-asserted-by":"crossref","unstructured":"S. Wang, \u201cNonlinear uncertainty estimator-based robust control for PMSM servo mechanisms with prescribed performance,\u201d IEEE Trans. on Transportation Electrification, Vol.9, No.2, pp. 2535-2543, 2023. https:\/\/doi.org\/10.1109\/TTE.2022.3212671","DOI":"10.1109\/TTE.2022.3212671"},{"key":"key-10.20965\/jaciii.2026.p0653-18","doi-asserted-by":"crossref","unstructured":"A. D. Ames, X. Xu, J. W. Grizzle, and P. 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