{"id":"https://openalex.org/W4287876975","doi":"https://doi.org/10.1109/lra.2022.3190808","title":"Nonlinear Model Learning for Compensation and Feedforward Control of Real-World Hydraulic Actuators Using Gaussian Processes","display_name":"Nonlinear Model Learning for Compensation and Feedforward Control of Real-World Hydraulic Actuators Using Gaussian Processes","publication_year":2022,"publication_date":"2022-07-25","ids":{"openalex":"https://openalex.org/W4287876975","doi":"https://doi.org/10.1109/lra.2022.3190808"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3190808","doi":"https://doi.org/10.1109/lra.2022.3190808","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3190808","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09839590.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09839590.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102840531","display_name":"Abdolreza Taheri","orcid":"https://orcid.org/0000-0003-4343-5920","observed_orcids":["https://orcid.org/0000-0003-4343-5920"]},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4387153886","display_name":"University of Tampere","ror":"https://ror.org/05p6qqk79","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849","https://openalex.org/I4387153886"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Abdolreza Taheri","raw_affiliation_strings":["Control Systems R&D, HIAB, Hudiksvall, Sweden","Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"raw_orcid":"https://orcid.org/0000-0003-4343-5920","affiliations":[{"raw_affiliation_string":"Control Systems R&D, HIAB, Hudiksvall, Sweden","institution_ids":[]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849","https://openalex.org/I4387153886"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052145407","display_name":"Pelle Gustafsson","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pelle Gustafsson","raw_affiliation_strings":["Control Systems R&D, HIAB, Hudiksvall, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems R&D, HIAB, Hudiksvall, Sweden","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086292777","display_name":"Marcus R\u00f6sth","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marcus Rosth","raw_affiliation_strings":["Control Systems R&D, HIAB, Hudiksvall, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems R&D, HIAB, Hudiksvall, Sweden","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083665381","display_name":"Reza Ghabcheloo","orcid":"https://orcid.org/0000-0002-6043-4236","observed_orcids":["https://orcid.org/0000-0002-6043-4236"]},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4387153886","display_name":"University of Tampere","ror":"https://ror.org/05p6qqk79","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849","https://openalex.org/I4387153886"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Reza Ghabcheloo","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"raw_orcid":"https://orcid.org/0000-0002-6043-4236","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849","https://openalex.org/I4387153886"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017983137","display_name":"Joni Pajarinen","orcid":"https://orcid.org/0000-0003-4469-8191","observed_orcids":["https://orcid.org/0000-0003-4469-8191"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["DE","FI"],"is_corresponding":false,"raw_author_name":"Joni Pajarinen","raw_affiliation_strings":["Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland","Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4469-8191","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":{"value":2195,"currency":"USD","value_usd":2195},"fwci":1.421,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.78076029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"9525","last_page":"9532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.8647000193595886,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.8647000193595886,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.06689999997615814,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.010300000198185444,"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":[{"id":"https://openalex.org/keywords/hydraulic-actuators","display_name":"hydraulic actuators","score":0.9900000095367432},{"id":"https://openalex.org/keywords/gaussian-processes","display_name":"Gaussian processes","score":0.5090000033378601},{"id":"https://openalex.org/keywords/inverse-dynamics-model","display_name":"inverse dynamics model","score":0.6909999847412109},{"id":"https://openalex.org/keywords/neural-network-inverse-model","display_name":"neural network inverse model","score":0.7279999852180481},{"id":"https://openalex.org/keywords/feedforward-control","display_name":"feedforward control","score":0.8209999799728394},{"id":"https://openalex.org/keywords/tracking-control","display_name":"tracking control","score":0.7799999713897705},{"id":"https://openalex.org/keywords/compensation-control","display_name":"compensation control","score":0.8069999814033508},{"id":"https://openalex.org/keywords/input-delay","display_name":"input delay","score":0.8100000023841858},{"id":"https://openalex.org/keywords/data-efficiency","display_name":"data efficiency","score":0.7519999742507935}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7333565950393677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6942899227142334},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5842306613922119},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5393782258033752},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.516284167766571},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5047601461410522},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48575952649116516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48048725724220276},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.44741666316986084},{"id":"https://openalex.org/C47702885","wikidata":"https://www.wikidata.org/wiki/Q5441227","display_name":"Feedforward neural network","level":3,"score":0.4444931745529175},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4252343475818634},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.41200998425483704},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.41135263442993164},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.28878337144851685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21604594588279724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20404359698295593},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3190808","doi":"https://doi.org/10.1109/lra.2022.3190808","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3190808","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09839590.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/116078","doi":null,"is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/4303e013-b9a3-4ae3-9c9c-53e2aa51889a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:trepo.tuni.fi:10024/224066","doi":null,"is_oa":true,"landing_page_url":"https://trepo.tuni.fi/handle/10024/224066","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3190808","doi":"https://doi.org/10.1109/lra.2022.3190808","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3190808","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09839590.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G434337789","display_name":null,"funder_award_id":"HORIZON2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7297823803","display_name":"Educating Europe`s Future Engineers in  Next Generation Heavy Duty Mobile Machinery: Artificial Intelligence driven Robotisation, Energy Efficiency and Process Optimisation","funder_award_id":"858101","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4287876975.pdf","grobid_xml":"https://content.openalex.org/works/W4287876975.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1787447003","https://openalex.org/W2018705428","https://openalex.org/W2021276683","https://openalex.org/W2027222744","https://openalex.org/W2048984886","https://openalex.org/W2109606373","https://openalex.org/W2126877537","https://openalex.org/W2129664976","https://openalex.org/W2137869981","https://openalex.org/W2337090395","https://openalex.org/W2516734862","https://openalex.org/W2771071345","https://openalex.org/W2793399158","https://openalex.org/W2874746074","https://openalex.org/W2885827943","https://openalex.org/W2896792698","https://openalex.org/W2899105324","https://openalex.org/W2963190151","https://openalex.org/W2967545310","https://openalex.org/W2970971581","https://openalex.org/W3006817615","https://openalex.org/W3049481978","https://openalex.org/W3133644071","https://openalex.org/W3204149324","https://openalex.org/W3205897583","https://openalex.org/W4205940851","https://openalex.org/W4211049957","https://openalex.org/W4226151180","https://openalex.org/W4285102157","https://openalex.org/W4392495954"],"related_works":["https://openalex.org/W7071673575","https://openalex.org/W3134131449","https://openalex.org/W4313002921","https://openalex.org/W4401752432","https://openalex.org/W3088555471","https://openalex.org/W2007864935","https://openalex.org/W1976732786","https://openalex.org/W4324118995","https://openalex.org/W2947916784","https://openalex.org/W1944990638"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,47,55],"robust":[4,87],"machine":[5],"learning":[6,21,90],"framework":[7],"for":[8,27,89],"modeling":[9],"and":[10,32,41,62,71,95,105,121],"control":[11,123],"of":[12,24,59,66,114],"hydraulic":[13],"actuators.":[14],"We":[15],"identify":[16],"several":[17],"important":[18],"challenges":[19],"concerning":[20],"accurate":[22],"models":[23,74,94],"the":[25,60,64,69,81,112,115],"dynamics":[26,57],"real":[28],"machines,":[29],"including":[30],"noise":[31],"uncertainty":[33],"in":[34,80,101,118],"state":[35],"measurements,":[36],"nonlinear":[37],"effects,":[38],"input":[39],"delays,":[40],"data-efficiency.":[42],"In":[43,83],"particular,":[44],"we":[45,85,110],"propose":[46],"dual-Gaussian":[48],"process":[49],"(GP)":[50],"model":[51,58],"architecture":[52],"to":[53],"learn":[54],"surrogate":[56],"actuator,":[61],"showcase":[63],"accuracy":[65],"predictions":[67],"against":[68],"piecewise":[70],"neural":[72,91],"network":[73,92],"that":[75],"have":[76],"been":[77],"widely":[78],"used":[79],"literature.":[82],"addition,":[84],"provide":[86],"techniques":[88],"inverse":[93],"controllers":[96,117],"by":[97],"batch":[98],"GP":[99],"inference":[100],"an":[102],"automated,":[103],"seamless":[104],"computationally":[106],"fast":[107],"manner.":[108],"Finally,":[109],"demonstrate":[111],"performance":[113],"trained":[116],"real-world":[119],"feedforward":[120],"tracking":[122],"applications.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2022-07-26T00:00:00"}