{"id":"https://openalex.org/W4411384844","doi":"https://doi.org/10.1080/00207721.2025.2504639","title":"Robust model predictive control for robotic manipulators with fully actuated system approach based on learning modelling","display_name":"Robust model predictive control for robotic manipulators with fully actuated system approach based on learning modelling","publication_year":2025,"publication_date":"2025-06-17","ids":{"openalex":"https://openalex.org/W4411384844","doi":"https://doi.org/10.1080/00207721.2025.2504639"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2025.2504639","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2025.2504639","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},"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/A5072757778","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-1330-9985"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Heng Yang","raw_affiliation_strings":["Sichuan University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sichuan University","institution_ids":["https://openalex.org/I24185976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323957","display_name":"Kai Zhang","orcid":"https://orcid.org/0000-0002-3708-8945"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Zhang","raw_affiliation_strings":["Sichuan University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sichuan University","institution_ids":["https://openalex.org/I24185976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104729070","display_name":"Zhi Hua Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhi Hua Chen","raw_affiliation_strings":["Beijing Institute of Control Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101646118","display_name":"Bin Li","orcid":"https://orcid.org/0000-0001-7885-7280"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Sichuan University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sichuan University","institution_ids":["https://openalex.org/I24185976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100323957"],"corresponding_institution_ids":["https://openalex.org/I24185976"],"apc_list":null,"apc_paid":null,"fwci":4.3924,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94561236,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"56","issue":"13","first_page":"3135","last_page":"3145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9987000226974487,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/model-predictive-control","display_name":"Model predictive control","score":0.6896186470985413},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6147192716598511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5668029189109802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5313297510147095},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5148719549179077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44415390491485596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4267827868461609},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3488873243331909}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6896186470985413},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6147192716598511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5668029189109802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5313297510147095},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5148719549179077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44415390491485596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4267827868461609},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3488873243331909}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207721.2025.2504639","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2025.2504639","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G66478906","display_name":null,"funder_award_id":"62273245","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G684180115","display_name":null,"funder_award_id":"62173033","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1979145483","https://openalex.org/W2007832742","https://openalex.org/W2053522383","https://openalex.org/W2067322291","https://openalex.org/W2075529263","https://openalex.org/W2077259363","https://openalex.org/W2082115686","https://openalex.org/W2089955447","https://openalex.org/W2092800302","https://openalex.org/W2605255410","https://openalex.org/W2995685539","https://openalex.org/W3091780002","https://openalex.org/W3092480669","https://openalex.org/W3129632638","https://openalex.org/W3209370225","https://openalex.org/W4252907012","https://openalex.org/W4283518853","https://openalex.org/W4285411563","https://openalex.org/W4321608026","https://openalex.org/W4382657654","https://openalex.org/W4386630737","https://openalex.org/W4386631061","https://openalex.org/W4386631473","https://openalex.org/W4386883967","https://openalex.org/W4387667351","https://openalex.org/W4388073592","https://openalex.org/W4391259627","https://openalex.org/W4400910280","https://openalex.org/W4401210573","https://openalex.org/W4403210480","https://openalex.org/W6734797129"],"related_works":["https://openalex.org/W2556120871","https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W1972570117"],"abstract_inverted_index":{"This":[0,116],"article":[1],"puts":[2],"forward":[3],"a":[4,13,49,65],"robust":[5,112],"model":[6,15,67,105],"predictive":[7],"control":[8,33],"(MPC)":[9],"strategy":[10,27],"fortified":[11],"by":[12],"learning":[14,104],"within":[16],"the":[17,32,39,58,61,75,82,89,95,100,103,107,111,125,128,132,143,151],"framework":[18],"of":[19,35,41,94,127,142],"fully":[20],"actuated":[21],"system":[22,109],"(FAS)":[23],"approach.":[24],"The":[25,140],"proposed":[26,144],"is":[28,70,78,114,146],"crafted":[29],"to":[30,56,80],"tackle":[31],"difficulties":[34],"robotic":[36,153],"manipulators":[37],"under":[38],"limitations":[40],"joint":[42],"angles":[43],"and":[44,91,106,123,135],"angular":[45],"velocities.":[46],"By":[47],"leveraging":[48],"radial":[50],"basis":[51],"function":[52],"neural":[53],"network":[54],"(RBFNN)":[55],"offset":[57],"inaccuracies":[59],"in":[60],"manipulator\u2019s":[62],"dynamic":[63],"modelling,":[64],"FAS":[66,76],"with":[68,99,120,150],"RBFNN":[69],"constructed.":[71],"Based":[72],"on":[73],"this,":[74],"approach":[77],"utilised":[79],"formulate":[81],"nominal":[83],"controller,":[84],"which":[85],"can":[86],"efficiently":[87],"manage":[88],"nonlinear":[90],"coupled":[92],"dynamics":[93],"system.":[96],"To":[97],"deal":[98],"disparities":[101],"between":[102],"actual":[108],"dynamics,":[110],"MPC":[113],"incorporated.":[115],"also":[117],"ensures":[118],"compliance":[119],"operating":[121],"limits":[122],"improves":[124],"accuracy":[126],"tracking":[129],"control.":[130],"Moreover,":[131],"iterative":[133],"feasibility":[134],"stability":[136],"analysis":[137],"are":[138],"completed.":[139],"effectiveness":[141],"method":[145],"validated":[147],"through":[148],"simulations":[149],"Franka":[152],"numerical":[154],"model.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":5}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}
