{"id":"https://openalex.org/W7119083633","doi":"https://doi.org/10.1109/tsmc.2025.3648063","title":"Reinforcement Learning-Based Adaptive Vibration Control of Flexible Two-Link Manipulator Systems With Input Saturation","display_name":"Reinforcement Learning-Based Adaptive Vibration Control of Flexible Two-Link Manipulator Systems With Input Saturation","publication_year":2026,"publication_date":"2026-01-06","ids":{"openalex":"https://openalex.org/W7119083633","doi":"https://doi.org/10.1109/tsmc.2025.3648063"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3648063","doi":"https://doi.org/10.1109/tsmc.2025.3648063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3648063","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-b","fnege-2","jufo-2","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089018770","display_name":"Hejia Gao","orcid":"https://orcid.org/0000-0002-7370-6501","observed_orcids":["https://orcid.org/0000-0002-7370-6501"]},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hejia Gao","raw_affiliation_strings":["School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0002-7370-6501","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113292498","display_name":"Jiangxu Liu","orcid":"https://orcid.org/0009-0002-2085-4815","observed_orcids":["https://orcid.org/0009-0002-2085-4815"]},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangxu Liu","raw_affiliation_strings":["School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0009-0002-2085-4815","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100589712","display_name":"Zele Yu","orcid":"https://orcid.org/0009-0001-5280-652X","observed_orcids":["https://orcid.org/0009-0001-5280-652X"]},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zele Yu","raw_affiliation_strings":["School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0009-0001-5280-652X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X","observed_orcids":["https://orcid.org/0000-0001-9269-334X","https://orcid.org/0009-0004-5570-0888"]},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0001-9269-334X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Anhui Provincial Key Laboratory of Security Artificial Intelligence, Anhui University, Hefei, Anhui, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":5.6429,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93885947,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"56","issue":"2","first_page":"1301","last_page":"1313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.788100004196167,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.788100004196167,"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":0.08619999885559082,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.0640999972820282,"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/vibration-reduction","display_name":"vibration suppression","score":0.9399999976158142},{"id":"https://openalex.org/keywords/input-saturation","display_name":"input saturation","score":0.9869999885559082},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"reinforcement learning","score":0.7739999890327454},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.7059999704360962},{"id":"https://openalex.org/keywords/actor-critic-algorithms","display_name":"actor-critic algorithms","score":0.9229999780654907},{"id":"https://openalex.org/keywords/assumed-mode-method","display_name":"assumed mode method","score":0.8259999752044678},{"id":"https://openalex.org/keywords/auxiliary-systems","display_name":"auxiliary systems","score":0.703000009059906},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.9070000052452087},{"id":"https://openalex.org/keywords/semi-global-uniform-ultimate-boundedness","display_name":"semi-global uniform ultimate boundedness","score":0.9459999799728394},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.9160000085830688},{"id":"https://openalex.org/keywords/model-free-control","display_name":"model-free control","score":0.7929999828338623}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8288000226020813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5983999967575073},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.595300018787384},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.564300000667572},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5145000219345093},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.48899999260902405},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48260000348091125},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46950000524520874},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44290000200271606},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.39750000834465027},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3707999885082245},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35760000348091125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34769999980926514},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C165165292","wikidata":"https://www.wikidata.org/wiki/Q4677595","display_name":"Active vibration control","level":4,"score":0.32760000228881836},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.32510000467300415},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.31279999017715454},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.27549999952316284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3648063","doi":"https://doi.org/10.1109/tsmc.2025.3648063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3648063","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-b","fnege-2","jufo-2","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1136771218","display_name":null,"funder_award_id":"GXXT-2023-039","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G7364644488","display_name":null,"funder_award_id":"62303010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1626155273","https://openalex.org/W2049933349","https://openalex.org/W2792251619","https://openalex.org/W2807012007","https://openalex.org/W2912259603","https://openalex.org/W2964214333","https://openalex.org/W2968310610","https://openalex.org/W3009523569","https://openalex.org/W3017827511","https://openalex.org/W3030693560","https://openalex.org/W3082324969","https://openalex.org/W3090809839","https://openalex.org/W3092602896","https://openalex.org/W3094700439","https://openalex.org/W3099934139","https://openalex.org/W3107790706","https://openalex.org/W3110252436","https://openalex.org/W3118400532","https://openalex.org/W3119526951","https://openalex.org/W3121733587","https://openalex.org/W3128797186","https://openalex.org/W3159912953","https://openalex.org/W3165757908","https://openalex.org/W3186040439","https://openalex.org/W3195947460","https://openalex.org/W3203513649","https://openalex.org/W3203901764","https://openalex.org/W3216633780","https://openalex.org/W4205512550","https://openalex.org/W4210513963","https://openalex.org/W4210822939","https://openalex.org/W4212961557","https://openalex.org/W4220729634","https://openalex.org/W4223488534","https://openalex.org/W4224223383","https://openalex.org/W4225552282","https://openalex.org/W4280590612","https://openalex.org/W4293194127","https://openalex.org/W4295898027","https://openalex.org/W4310331740","https://openalex.org/W4312348224","https://openalex.org/W4312949109","https://openalex.org/W4313034742","https://openalex.org/W4365135164","https://openalex.org/W4379409094","https://openalex.org/W4382203246","https://openalex.org/W4385413561","https://openalex.org/W4386702795","https://openalex.org/W4391853779","https://openalex.org/W4399849945"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"focuses":[2],"on":[3,30,129],"the":[4,31,55,67,80,83,92,98,112,117,121,130],"vibration":[5,42,77,107],"issue":[6],"of":[7,24,69,82,104,116],"flexible":[8],"two-link":[9],"manipulators":[10],"(FTLMs)":[11],"with":[12],"input":[13,70],"saturation.":[14],"An":[15],"efficient":[16],"system":[17,62,85],"model":[18],"is":[19,46,51,63,89],"represented":[20],"by":[21,53,144,152],"a":[22,37,47],"set":[23],"ordinary":[25],"differential":[26],"equations":[27],"(ODEs)":[28],"based":[29],"assumed":[32],"mode":[33],"method":[34],"(AMM).":[35],"Subsequently,":[36],"reinforcement":[38],"learning":[39],"(RL)-based":[40],"adaptive":[41],"control":[43,49,88,140,150],"strategy,":[44,120],"which":[45,96],"model-free":[48],"approach,":[50],"proposed":[52,118],"employing":[54],"actor\u2013critic":[56],"algorithm":[57],"structure.":[58],"Additionally,":[59],"an":[60],"auxiliary":[61],"constructed":[64],"to":[65,110],"tackle":[66],"influence":[68],"saturation,":[71],"ensuring":[72],"trajectory":[73],"tracking":[74,105],"while":[75],"achieving":[76],"suppression.":[78],"Furthermore,":[79],"stability":[81],"closed-loop":[84],"under":[86],"RL":[87,119,139],"examined":[90],"using":[91],"Lyapunov":[93],"direct":[94],"method,":[95],"demonstrates":[97],"semi-global":[99],"uniform":[100],"ultimate":[101],"boundedness":[102],"(SGUUB)":[103],"and":[106,114,124,146,151,154],"errors.":[108],"Finally,":[109],"verify":[111],"effectiveness":[113],"superiority":[115],"comparative":[122],"simulations":[123],"experimental":[125,132,135],"studies":[126],"are":[127],"conducted":[128],"Quanser":[131],"platform.":[133],"The":[134],"results":[136],"demonstrate":[137],"that":[138],"reduces":[141],"steady-state":[142],"errors":[143],"40%":[145],"96.6%":[147],"against":[148,156],"PSF":[149],"50%":[153],"97.2%":[155],"neural":[157],"network":[158],"(NN)":[159],"control,":[160],"respectively.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-10-10T09:11:00.788812","created_date":"2026-01-08T00:00:00"}
