{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T15:02:03Z","timestamp":1781622123229,"version":"3.54.5"},"reference-count":36,"publisher":"Elsevier BV","issue":"1","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100007129","name":"Natural Science Foundation of Shandong Province","doi-asserted-by":"publisher","award":["ZR2023MF029"],"award-info":[{"award-number":["ZR2023MF029"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62573248"],"award-info":[{"award-number":["62573248"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62003231"],"award-info":[{"award-number":["62003231"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,1]]},"DOI":"10.1016\/j.jfranklin.2025.108282","type":"journal-article","created":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T16:26:48Z","timestamp":1764779208000},"page":"108282","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"title":["Global sliding mode finite-time control for uncertain robotic manipulators with asymmetric output constraints"],"prefix":"10.1016","volume":"363","author":[{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0009-0006-1728-3408","authenticated-orcid":false,"given":"Longsheng","family":"Yan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0003-1617-0218","authenticated-orcid":false,"given":"Zhen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0003-3269-963X","authenticated-orcid":false,"given":"Yonggui","family":"Kao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0001-5592-345X","authenticated-orcid":false,"given":"Baoping","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"4","key":"10.1016\/j.jfranklin.2025.108282_bib0001","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2025.107528","article-title":"Fuzzy logic based adaptive control of robot manipulators driven by BLDC motors","volume":"362","author":"Yilmaz","year":"2025","journal-title":"J. Franklin Inst."},{"issue":"9","key":"10.1016\/j.jfranklin.2025.108282_bib0002","doi-asserted-by":"crossref","first-page":"9293","DOI":"10.1109\/TIE.2025.3536628","article-title":"Model predictive optimization and terminal sliding mode motion control for mobile robot with obstacle avoidance","volume":"72","author":"Li","year":"2025","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"5","key":"10.1016\/j.jfranklin.2025.108282_bib0003","doi-asserted-by":"crossref","first-page":"5215","DOI":"10.1109\/TIE.2023.3281701","article-title":"A novel faster fixed-time adaptive control for robotic systems with input saturation","volume":"71","author":"Liu","year":"2024","journal-title":"IEEE Trans. Ind. Electron."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0004","article-title":"Actor\u2013critic learning based PID control for robotic manipulators","volume":"151","author":"Nohooji","year":"2024","journal-title":"Appl. Soft Comput."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0005","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1016\/j.isatra.2023.11.033","article-title":"Modeling of PID controlled 3DOF robotic manipulator using lyapunov function for enhancing trajectory tracking and robustness exploiting golden jackal algorithm","volume":"145","author":"Azeez","year":"2024","journal-title":"ISA Trans."},{"issue":"14","key":"10.1016\/j.jfranklin.2025.108282_bib0006","doi-asserted-by":"crossref","first-page":"12171","DOI":"10.1007\/s11071-024-09468-0","article-title":"Adaptive fuzzy neural network-based finite time prescribed performance control for uncertain robotic systems with actuator saturation","volume":"112","author":"Liu","year":"2024","journal-title":"Nonlinear Dyn."},{"issue":"11","key":"10.1016\/j.jfranklin.2025.108282_bib0007","doi-asserted-by":"crossref","first-page":"14823","DOI":"10.1109\/TIE.2024.3366204","article-title":"Adaptive disturbance observer-based fixed-time tracking control for uncertain robotic systems","volume":"71","author":"Liu","year":"2024","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"18","key":"10.1016\/j.jfranklin.2025.108282_bib0008","doi-asserted-by":"crossref","first-page":"2506","DOI":"10.1049\/cth2.12528","article-title":"Command filtered backstepping control of constrained flexible joint robotic manipulator","volume":"17","author":"Arefi","year":"2023","journal-title":"IET Control Theory Appl."},{"issue":"11","key":"10.1016\/j.jfranklin.2025.108282_bib0009","doi-asserted-by":"crossref","first-page":"12561","DOI":"10.1109\/TCYB.2021.3079129","article-title":"Command filter-based adaptive neural control design for nonstrict-feedback nonlinear systems with multiple actuator constraints","volume":"52","author":"Wang","year":"2022","journal-title":"IEEE Trans. Cybern."},{"issue":"12","key":"10.1016\/j.jfranklin.2025.108282_bib0010","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.107025","article-title":"Adaptive fixed-time fuzzy fault-tolerant control for robotic manipulator with unknown friction and composite actuator faults","volume":"361","author":"Zhu","year":"2024","journal-title":"J. Franklin Inst."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0011","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1016\/j.isatra.2023.10.028","article-title":"Finite-time adaptive super-twisting sliding mode control for autonomous robotic manipulators with actuator faults","volume":"144","author":"Hu","year":"2024","journal-title":"ISA Trans."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0012","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2019.108596","article-title":"Passivity-based robust sliding mode synthesis for uncertain delayed stochastic systems via state observer","volume":"111","author":"Liu","year":"2020","journal-title":"Automatica"},{"issue":"1","key":"10.1016\/j.jfranklin.2025.108282_bib0013","doi-asserted-by":"crossref","first-page":"487","DOI":"10.1109\/TAC.2023.3269361","article-title":"Robust state-estimator-based control of uncertain semi-Markovian jump systems subject to actuator failures and time-varying delay","volume":"69","author":"Yu","year":"2024","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108282_bib0014","doi-asserted-by":"crossref","first-page":"4010","DOI":"10.1109\/TIE.2021.3070496","article-title":"Sliding mode control of grid-connected neutral-point-clamped converters via high-gain observer","volume":"69","author":"Liu","year":"2022","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108282_bib0015","first-page":"561","article-title":"Switched controller design for robotic manipulator via neural network-based sliding mode approach","volume":"70","author":"Zhao","year":"2023","journal-title":"IEEE Trans. Circuits Syst. II, Exp. Briefs"},{"issue":"6","key":"10.1016\/j.jfranklin.2025.108282_bib0016","doi-asserted-by":"crossref","first-page":"7980","DOI":"10.1109\/TPEL.2025.3541340","article-title":"Modified discrete-time super-twisting control of PMSM speed regulation system: theory and experimentation","volume":"40","author":"Mei","year":"2025","journal-title":"IEEE Trans. Power Electron."},{"issue":"13","key":"10.1016\/j.jfranklin.2025.108282_bib0017","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.106989","article-title":"On neural networks application in integral sliding mode control","volume":"361","author":"Sacchi","year":"2024","journal-title":"J. Franklin Inst."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0018","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2021.110016","article-title":"Finite-time integral control for a class of nonlinear planar systems with non-vanishing uncertainties","volume":"136","author":"Gu","year":"2022","journal-title":"Automatica"},{"issue":"18","key":"10.1016\/j.jfranklin.2025.108282_bib0019","doi-asserted-by":"crossref","first-page":"3148","DOI":"10.1049\/iet-cta.2018.5902","article-title":"Finite-time control of switched affine non-linear systems based on the lie derivative and iteration technique","volume":"13","author":"Gao","year":"2019","journal-title":"IET Control Theory Appl."},{"issue":"7","key":"10.1016\/j.jfranklin.2025.108282_bib0020","doi-asserted-by":"crossref","first-page":"4371","DOI":"10.1109\/TSMC.2024.3379237","article-title":"Design of second-order sliding-mode controller via output feedback","volume":"54","author":"Mei","year":"2024","journal-title":"IEEE Trans. Syst. Man Cybernet.: Syst."},{"issue":"6","key":"10.1016\/j.jfranklin.2025.108282_bib0021","doi-asserted-by":"crossref","first-page":"3951","DOI":"10.1109\/TCYB.2022.3188877","article-title":"A generalized supertwisting algorithm","volume":"53","author":"Mei","year":"2023","journal-title":"IEEE Trans. Cybern."},{"issue":"9","key":"10.1016\/j.jfranklin.2025.108282_bib0022","doi-asserted-by":"crossref","first-page":"2603","DOI":"10.1109\/TAC.2015.2495232","article-title":"Composite learning from adaptive dynamic surface control","volume":"61","author":"Pan","year":"2016","journal-title":"IEEE Trans. Autom. Control"},{"key":"10.1016\/j.jfranklin.2025.108282_bib0023","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2019.108612","article-title":"Composite learning control of robotic systems: a least squares modulated approach","volume":"111","author":"Guo","year":"2020","journal-title":"Automatica"},{"issue":"3","key":"10.1016\/j.jfranklin.2025.108282_bib0024","doi-asserted-by":"crossref","first-page":"1705","DOI":"10.1109\/TAC.2023.3326749","article-title":"Composite error learning robot control using discontinuous lyapunov analysis","volume":"69","author":"Pan","year":"2024","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108282_bib0025","doi-asserted-by":"crossref","first-page":"1687","DOI":"10.1109\/TIE.2022.3161796","article-title":"Composite learning finite-time control of robotic systems with output constraints","volume":"70","author":"Zhang","year":"2023","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"12","key":"10.1016\/j.jfranklin.2025.108282_bib0026","doi-asserted-by":"crossref","first-page":"7668","DOI":"10.1109\/TCYB.2024.3414186","article-title":"Neuro-adaptive-based fixed-time composite learning control for manipulators with given transient performance","volume":"54","author":"Fan","year":"2024","journal-title":"IEEE Trans. Cybern."},{"issue":"9","key":"10.1016\/j.jfranklin.2025.108282_bib0027","doi-asserted-by":"crossref","first-page":"5947","DOI":"10.1016\/j.jfranklin.2023.04.014","article-title":"Fault-tolerant practical tracking control for uncertain robotic system with general reference trajectory and output constraint","volume":"360","author":"Li","year":"2023","journal-title":"J. Franklin Inst."},{"issue":"7","key":"10.1016\/j.jfranklin.2025.108282_bib0028","doi-asserted-by":"crossref","first-page":"7082","DOI":"10.1109\/TIE.2022.3206694","article-title":"Global composite learning fixed-time control of robotic systems with asymmetric tracking error constraints","volume":"70","author":"Yu","year":"2023","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"7","key":"10.1016\/j.jfranklin.2025.108282_bib0029","doi-asserted-by":"crossref","first-page":"1681","DOI":"10.1109\/TCYB.2016.2555307","article-title":"Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control","volume":"47","author":"Van","year":"2017","journal-title":"IEEE Trans. Cybern."},{"issue":"5","key":"10.1016\/j.jfranklin.2025.108282_bib0030","doi-asserted-by":"crossref","first-page":"1284","DOI":"10.1109\/TFUZZ.2020.2973955","article-title":"Adaptive fuzzy integral sliding-mode control for robust fault-tolerant control of robot manipulators with disturbance observer","volume":"29","author":"Van","year":"2021","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0031","doi-asserted-by":"crossref","DOI":"10.1016\/j.fss.2023.108616","article-title":"General fuzzy adaptive fault-tolerant control based on nussbaum-type function with additive and multiplicative sensor and state-dependent actuator faults","volume":"468","author":"Bounemeur","year":"2023","journal-title":"Fuzzy Sets Syst."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108282_bib0032","doi-asserted-by":"crossref","first-page":"2097","DOI":"10.1109\/TCYB.2021.3109294","article-title":"Prescribed-time consensus tracking of multiagent systems with nonlinear dynamics satisfying time-varying lipschitz growth rates","volume":"53","author":"Ren","year":"2023","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2025.108282_bib0033","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1016\/j.isatra.2018.04.014","article-title":"Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures","volume":"79","author":"Bounemeur","year":"2018","journal-title":"ISA Trans."},{"issue":"7","key":"10.1016\/j.jfranklin.2025.108282_bib0034","doi-asserted-by":"crossref","first-page":"3325","DOI":"10.1109\/TAI.2024.3353150","article-title":"Composite learning adaptive intelligent self-triggered fault-tolerant control with improved performance assurance for autonomous surface vehicle","volume":"5","author":"Song","year":"2024","journal-title":"IEEE Trans. Artif. Intell."},{"issue":"1","key":"10.1016\/j.jfranklin.2025.108282_bib0035","doi-asserted-by":"crossref","first-page":"1231","DOI":"10.1016\/j.asr.2024.09.041","article-title":"Robust neuro-adaptive command-filtered back-stepping fault-tolerant control of satellite using composite learning","volume":"75","author":"Ezabadi","year":"2025","journal-title":"Adv. Space Res."},{"issue":"6","key":"10.1016\/j.jfranklin.2025.108282_bib0036","doi-asserted-by":"crossref","first-page":"5664","DOI":"10.1109\/TITS.2023.3340746","article-title":"Distributed composite learning adaptive fault-tolerant control for multiple marine vehicles with event-triggered communication","volume":"25","author":"Chu","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/api.elsevier.com\/content\/article\/PII:S0016003225007744?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/api.elsevier.com\/content\/article\/PII:S0016003225007744?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T00:50:11Z","timestamp":1778633411000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003225007744"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1]]},"references-count":36,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,1]]}},"alternative-id":["S0016003225007744"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1016\/j.jfranklin.2025.108282","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,1]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Global sliding mode finite-time control for uncertain robotic manipulators with asymmetric output constraints","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1016\/j.jfranklin.2025.108282","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 The Franklin Institute. Published by Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"108282"}}