{"id":"https://openalex.org/W4390357628","doi":"https://doi.org/10.1109/access.2023.3347807","title":"Singularity-free Fixed-time Neuro-adaptive Control for Robot Manipulators in the Presence of Input Saturation and External Disturbances","display_name":"Singularity-free Fixed-time Neuro-adaptive Control for Robot Manipulators in the Presence of Input Saturation and External Disturbances","publication_year":2023,"publication_date":"2023-12-28","ids":{"openalex":"https://openalex.org/W4390357628","doi":"https://doi.org/10.1109/access.2023.3347807"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3347807","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10375375.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10375375.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101816064","display_name":"Dong Ming Guo","orcid":"https://orcid.org/0000-0003-1713-9351"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]},{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Guo","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","School of Automation (Artificial Intelligence), Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation (Artificial Intelligence), Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","institution_ids":["https://openalex.org/I4210160030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100678224","display_name":"Jun Liu","orcid":"https://orcid.org/0000-0001-7893-3781"},"institutions":[{"id":"https://openalex.org/I163151501","display_name":"Hangzhou Normal University","ror":"https://ror.org/014v1mr15","country_code":"CN","type":"education","lineage":["https://openalex.org/I163151501"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["School of Information Science and Technology, Hangzhou Normal University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Hangzhou Normal University, Hangzhou, China","institution_ids":["https://openalex.org/I163151501"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029553960","display_name":"Song Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Zheng","raw_affiliation_strings":["School of Automation (Artificial Intelligence), Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation (Artificial Intelligence), Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033613326","display_name":"Jianping Cai","orcid":"https://orcid.org/0000-0003-4724-796X"},"institutions":[{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian-Ping Cai","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","institution_ids":["https://openalex.org/I4210160030"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101405956","display_name":"Peng Jiang","orcid":"https://orcid.org/0000-0001-8636-4312"},"institutions":[{"id":"https://openalex.org/I163151501","display_name":"Hangzhou Normal University","ror":"https://ror.org/014v1mr15","country_code":"CN","type":"education","lineage":["https://openalex.org/I163151501"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Jiang","raw_affiliation_strings":["School of Information Science and Technology, Hangzhou Normal University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Hangzhou Normal University, Hangzhou, China","institution_ids":["https://openalex.org/I163151501"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850,"provenance":"doaj"},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850,"provenance":"doaj"},"fwci":0.0,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":1,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":"12","issue":null,"first_page":"1794","last_page":"1804"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9964,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9933,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.844486},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7587999},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6696358},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5265608},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.51565826},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5069933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49346462},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48543316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46982217},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42756337},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30854762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15779704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1267952},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3347807","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10375375.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3347807","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10375375.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[{"funder":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China","award_id":"62273126"},{"funder":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province","award_id":"LY22F030011"},{"funder":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province","award_id":"LQ21F030012"}],"datasets":[],"versions":[],"referenced_works_count":38,"referenced_works":["https://openalex.org/W1973578767","https://openalex.org/W1986024064","https://openalex.org/W2005249374","https://openalex.org/W2013745402","https://openalex.org/W2015113370","https://openalex.org/W2018918594","https://openalex.org/W2048707341","https://openalex.org/W2062551655","https://openalex.org/W2068653799","https://openalex.org/W2089482383","https://openalex.org/W2092707876","https://openalex.org/W2100210661","https://openalex.org/W2101036899","https://openalex.org/W2129275525","https://openalex.org/W2129518264","https://openalex.org/W2132442055","https://openalex.org/W2136605942","https://openalex.org/W2343693428","https://openalex.org/W2591999327","https://openalex.org/W2790630269","https://openalex.org/W2793427524","https://openalex.org/W2801870674","https://openalex.org/W2807402986","https://openalex.org/W2913053245","https://openalex.org/W2948133660","https://openalex.org/W2949563889","https://openalex.org/W2976389140","https://openalex.org/W2995874545","https://openalex.org/W3033338794","https://openalex.org/W3045201873","https://openalex.org/W3082687559","https://openalex.org/W3092498295","https://openalex.org/W3106093600","https://openalex.org/W3152836526","https://openalex.org/W3197693197","https://openalex.org/W4239838011","https://openalex.org/W4367280794","https://openalex.org/W4388052949"],"related_works":["https://openalex.org/W4382203996","https://openalex.org/W2972367213","https://openalex.org/W2793080664","https://openalex.org/W2771027241","https://openalex.org/W2534185822","https://openalex.org/W2367651125","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W1847613412","https://openalex.org/W1765905465"],"abstract_inverted_index":{"This":[0,109],"article":[1],"proposes":[2],"a":[3,44,57,64],"singularity-free":[4],"fixed-time":[5,45],"neuro-adaptive":[6,46],"control":[7],"strategy":[8],"for":[9,103],"robot":[10],"manipulators,":[11],"with":[12,67],"the":[13,30,41,61,68,80,93,97,101,113,119],"goal":[14],"of":[15,32,71,76,83,121],"addressing":[16],"trajectory-tracking":[17],"challenges":[18],"presented":[19],"by":[20,87],"model":[21],"uncertainties,":[22],"external":[23],"disturbances,":[24],"and":[25,96,111],"input":[26,33],"saturation.":[27],"To":[28,117],"mitigate":[29],"impact":[31],"saturation,":[34],"an":[35],"auxiliary":[36],"system":[37],"is":[38,48,85],"introduced.":[39],"Combining":[40],"backstepping":[42],"technique,":[43],"controller":[47,95],"designed":[49],"to":[50],"ensure":[51],"that":[52],"tracking":[53],"errors":[54],"converge":[55],"within":[56,63],"small":[58],"region":[59],"around":[60],"origin":[62],"fixed":[65],"time,":[66],"upper":[69],"bound":[70],"convergence":[72],"time":[73],"being":[74],"independent":[75],"initial":[77],"conditions.":[78],"Notably,":[79],"direct":[81],"avoidance":[82],"singularity":[84],"achieved":[86],"constructing":[88],"quadratic-fraction":[89],"functions":[90],"in":[91],"both":[92],"virtual":[94],"actual":[98],"controller,":[99],"eliminating":[100],"need":[102],"filters":[104],"or":[105],"piecewise":[106],"continuous":[107],"functions.":[108],"simplifies":[110],"streamlines":[112],"stability":[114],"analysis":[115],"process.":[116],"validate":[118],"effectiveness":[120],"this":[122],"strategy,":[123],"numerical":[124],"simulations":[125],"are":[126],"conducted.":[127]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4390357628","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-12T08:51:07.356286","created_date":"2023-12-29"}