{"id":"https://openalex.org/W3204211849","doi":"https://doi.org/10.1007/s40747-021-00538-z","title":"Critic-observer-based decentralized force/position approximate optimal control for modular and reconfigurable manipulators with uncertain environmental constraints","display_name":"Critic-observer-based decentralized force/position approximate optimal control for modular and reconfigurable manipulators with uncertain environmental constraints","publication_year":2021,"publication_date":"2021-09-29","ids":{"openalex":"https://openalex.org/W3204211849","doi":"https://doi.org/10.1007/s40747-021-00538-z","mag":"3204211849"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-021-00538-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00538-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00538-z.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00538-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112172284","display_name":"Yuanchun Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanchun Li","raw_affiliation_strings":["Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","Department of Control Science and Engineering, Changchun University of Technology, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090463234","display_name":"Xinye Zhu","orcid":"https://orcid.org/0000-0001-7332-1903"},"institutions":[{"id":"https://openalex.org/I4210103627","display_name":"BaiCheng Normal University","ror":"https://ror.org/01djkf495","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210103627"]},{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinye Zhu","raw_affiliation_strings":["Baicheng Normal University, Baicheng, 137000, China","Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","Department of Control Science and Engineering, Changchun University of Technology, Changchun, China","Baicheng Normal University, Baicheng, China"],"affiliations":[{"raw_affiliation_string":"Baicheng Normal University, Baicheng, 137000, China","institution_ids":["https://openalex.org/I4210103627"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"Baicheng Normal University, Baicheng, China","institution_ids":["https://openalex.org/I4210103627"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028305369","display_name":"Tianjiao An","orcid":"https://orcid.org/0000-0002-4292-6691"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjiao An","raw_affiliation_strings":["Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","Department of Control Science and Engineering, Changchun University of Technology, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074758085","display_name":"Bo Dong","orcid":"https://orcid.org/0000-0003-3988-8054"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Dong","raw_affiliation_strings":["Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","Department of Control Science and Engineering, Changchun University of Technology, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, 130012, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074758085"],"corresponding_institution_ids":["https://openalex.org/I4385474403"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":0.4544,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68747825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"8","issue":"1","first_page":"525","last_page":"539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9635999798774719,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9531000256538391,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/hamilton\u2013jacobi\u2013bellman-equation","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","score":0.7886508703231812},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7044254541397095},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6317536234855652},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6087196469306946},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5922625064849854},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5473459362983704},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5079761147499084},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48294585943222046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46821215748786926},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4517563581466675},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4263090193271637},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.4231160283088684},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3857809007167816},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33611929416656494},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24049440026283264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10989835858345032},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0985175371170044}],"concepts":[{"id":"https://openalex.org/C196978813","wikidata":"https://www.wikidata.org/wiki/Q3302775","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","level":3,"score":0.7886508703231812},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7044254541397095},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6317536234855652},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6087196469306946},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5922625064849854},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5473459362983704},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5079761147499084},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48294585943222046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46821215748786926},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4517563581466675},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4263090193271637},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.4231160283088684},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3857809007167816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33611929416656494},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24049440026283264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10989835858345032},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0985175371170044},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s40747-021-00538-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00538-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00538-z.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s40747-021-00538-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00538-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00538-z.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.6299999952316284}],"awards":[{"id":"https://openalex.org/G1721160639","display_name":null,"funder_award_id":"61703055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2010508924","display_name":null,"funder_award_id":"1773075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3836240867","display_name":null,"funder_award_id":"2020067","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G384178317","display_name":null,"funder_award_id":"02008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3948766790","display_name":null,"funder_award_id":"6177307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G430625229","display_name":null,"funder_award_id":"202006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4647177739","display_name":null,"funder_award_id":"61773075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5266158394","display_name":null,"funder_award_id":"20200801056GH","funder_id":"https://openalex.org/F4320335953","funder_display_name":"Jilin Scientific and Technological Development Program"},{"id":"https://openalex.org/G8161904097","display_name":null,"funder_award_id":"202008","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/F4320322174","display_name":"People's Government of Jilin Province","ror":"https://ror.org/02fzqav45"},{"id":"https://openalex.org/F4320335953","display_name":"Jilin Scientific and Technological Development Program","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3204211849.pdf","grobid_xml":"https://content.openalex.org/works/W3204211849.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1988523476","https://openalex.org/W2005127705","https://openalex.org/W2014558518","https://openalex.org/W2036231575","https://openalex.org/W2060686658","https://openalex.org/W2070699670","https://openalex.org/W2105218843","https://openalex.org/W2108286682","https://openalex.org/W2127026371","https://openalex.org/W2137092694","https://openalex.org/W2158172925","https://openalex.org/W2193394111","https://openalex.org/W2340995602","https://openalex.org/W2341171179","https://openalex.org/W2401906472","https://openalex.org/W2423646035","https://openalex.org/W2523002896","https://openalex.org/W2569283049","https://openalex.org/W2591999327","https://openalex.org/W2592507398","https://openalex.org/W2608120938","https://openalex.org/W2726408216","https://openalex.org/W2753320496","https://openalex.org/W2762911482","https://openalex.org/W2767784613","https://openalex.org/W2782878947","https://openalex.org/W2802593109","https://openalex.org/W2883330484","https://openalex.org/W2895585074","https://openalex.org/W2959247934","https://openalex.org/W2964308808","https://openalex.org/W2976681006","https://openalex.org/W2991643081","https://openalex.org/W2991838185","https://openalex.org/W3000932720","https://openalex.org/W3016594281","https://openalex.org/W3025364039","https://openalex.org/W3049124979","https://openalex.org/W3171839998","https://openalex.org/W4237591687"],"related_works":["https://openalex.org/W2921905705","https://openalex.org/W118270679","https://openalex.org/W1632524629","https://openalex.org/W2052286527","https://openalex.org/W3144229288","https://openalex.org/W4239477580","https://openalex.org/W4255265352","https://openalex.org/W2545178307","https://openalex.org/W2912160361","https://openalex.org/W2000029621"],"abstract_inverted_index":{"Abstract":[0],"A":[1,60],"critic-observer":[2],"decentralized":[3],"force/position":[4],"approximate":[5],"optimal":[6,108],"control":[7,109,143],"method":[8],"is":[9,38,67,96,118],"presented":[10],"to":[11,69,120,134],"address":[12],"the":[13,35,53,72,76,92,106,126,136,141],"joint":[14,44,78],"trajectory":[15],"and":[16,23,87,104,138],"contacted":[17],"force":[18],"tracking":[19],"problem":[20],"of":[21,34,43,55,140],"modular":[22],"reconfigurable":[24],"manipulators":[25],"(MRMs)":[26],"with":[27,52,71],"uncertain":[28],"environmental":[29],"constraints.":[30],"The":[31,114],"dynamic":[32,57,83],"model":[33],"MRM":[36],"systems":[37],"formulated":[39],"as":[40],"an":[41],"integration":[42],"subsystems":[45],"via":[46],"extensive":[47],"state":[48],"observer":[49],"(ESO)":[50],"associated":[51],"effect":[54],"interconnected":[56],"coupling":[58],"(IDC).":[59],"radial":[61],"basis":[62],"function":[63],"neural":[64],"network":[65],"(RBF-NN)":[66],"developed":[68],"deal":[70],"IDC":[73],"effects":[74],"among":[75],"independent":[77],"subsystems.":[79],"Based":[80],"on":[81],"adaptive":[82],"programming":[84],"(ADP)":[85],"approach":[86],"policy":[88,110],"iteration":[89],"(PI)":[90],"algorithm,":[91],"Hamilton\u2013Jacobi\u2013Bellman":[93],"(HJB)":[94],"equation":[95],"approximately":[97],"solved":[98],"by":[99,124],"establishing":[100],"critic":[101],"NN":[102],"structure":[103],"then":[105],"approximated":[107],"can":[111],"be":[112,121],"derived.":[113],"closed-loop":[115],"manipulator":[116],"system":[117],"proved":[119],"asymptotic":[122],"stable":[123],"using":[125],"Lyapunov":[127],"theory.":[128],"Finally,":[129],"simulation":[130],"results":[131],"are":[132],"provided":[133],"demonstrate":[135],"effectiveness":[137],"advantages":[139],"proposed":[142],"method.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}