{"id":"https://openalex.org/W4391930535","doi":"https://doi.org/10.1080/01691864.2024.2315067","title":"Safe robust adaptive control under both parametric and nonparametric uncertainty","display_name":"Safe robust adaptive control under both parametric and nonparametric uncertainty","publication_year":2024,"publication_date":"2024-02-19","ids":{"openalex":"https://openalex.org/W4391930535","doi":"https://doi.org/10.1080/01691864.2024.2315067"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2315067","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2315067","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://findresearcher.sdu.dk/ws/files/263964222/Safe_robust_adaptive_control_under_both_parametric_and_nonparametric_uncertainty.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066517421","display_name":"Yitaek Kim","orcid":"https://orcid.org/0000-0001-6884-4072"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Yitaek Kim","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-6884-4072","affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064712655","display_name":"I\u00f1igo Iturrate","orcid":"https://orcid.org/0000-0001-7922-1946"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"I\u00f1igo Iturrate","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-7922-1946","affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012865633","display_name":"Jeppe Langaa","orcid":"https://orcid.org/0000-0002-2527-154X"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jeppe Langaa","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-2527-154X","affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088328087","display_name":"Christoffer Sloth","orcid":"https://orcid.org/0000-0002-3309-6278"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Christoffer Sloth","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-3309-6278","affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5066517421"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":1.3,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76793284,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"38","issue":"5","first_page":"357","last_page":"366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9994000196456909,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9986000061035156,"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/T11236","display_name":"Control Systems and Identification","score":0.9966999888420105,"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/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.8960697650909424},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.7477693557739258},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5531920194625854},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5440018773078918},{"id":"https://openalex.org/keywords/conservatism","display_name":"Conservatism","score":0.5374740958213806},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4645184576511383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45673418045043945},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.43831509351730347},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42790162563323975},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4114507734775543},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3993714451789856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3088186979293823},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2664681673049927},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2473067343235016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17018884420394897},{"id":"https://openalex.org/keywords/econometrics","display_name":"Econometrics","score":0.11845239996910095},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0650128424167633},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.059867292642593384}],"concepts":[{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.8960697650909424},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.7477693557739258},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5531920194625854},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5440018773078918},{"id":"https://openalex.org/C96640997","wikidata":"https://www.wikidata.org/wiki/Q5163004","display_name":"Conservatism","level":3,"score":0.5374740958213806},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4645184576511383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45673418045043945},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43831509351730347},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42790162563323975},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4114507734775543},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3993714451789856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3088186979293823},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2664681673049927},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2473067343235016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17018884420394897},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.11845239996910095},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0650128424167633},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.059867292642593384},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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:10.1080/01691864.2024.2315067","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2315067","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/289bf2ef-7870-4297-9669-a19f169d92b2","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/289bf2ef-7870-4297-9669-a19f169d92b2","pdf_url":"https://findresearcher.sdu.dk/ws/files/263964222/Safe_robust_adaptive_control_under_both_parametric_and_nonparametric_uncertainty.pdf","source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kim, Y, Iturrate, I, Langaa, J & Sloth, C 2024, 'Safe robust adaptive control under both parametric and nonparametric uncertainty', Advanced Robotics, vol. 38, no. 5, pp. 357-366. https://doi.org/10.1080/01691864.2024.2315067","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:sdu.dk:openaire/289bf2ef-7870-4297-9669-a19f169d92b2","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/files/263964222/Safe_robust_adaptive_control_under_both_parametric_and_nonparametric_uncertainty.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kim, Y, Iturrate, I, Langaa, J & Sloth, C 2024, 'Safe robust adaptive control under both parametric and nonparametric uncertainty', Advanced Robotics, vol. 38, no. 5, pp. 357-366. https://doi.org/10.1080/01691864.2024.2315067","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:sdu.dk:openaire_cris_publications/289bf2ef-7870-4297-9669-a19f169d92b2","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/289bf2ef-7870-4297-9669-a19f169d92b2","pdf_url":"https://findresearcher.sdu.dk/ws/files/263964222/Safe_robust_adaptive_control_under_both_parametric_and_nonparametric_uncertainty.pdf","source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kim, Y, Iturrate, I, Langaa, J & Sloth, C 2024, 'Safe robust adaptive control under both parametric and nonparametric uncertainty', Advanced Robotics, vol. 38, no. 5, pp. 357-366. https://doi.org/10.1080/01691864.2024.2315067","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4391930535.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1486164486","https://openalex.org/W1502922572","https://openalex.org/W2017280345","https://openalex.org/W2063490625","https://openalex.org/W2084399420","https://openalex.org/W2166566250","https://openalex.org/W2771972772","https://openalex.org/W2884878866","https://openalex.org/W2968945909","https://openalex.org/W2977676795","https://openalex.org/W3046037537","https://openalex.org/W3119835966","https://openalex.org/W3120308226","https://openalex.org/W3185577250","https://openalex.org/W3206570540","https://openalex.org/W3207630696","https://openalex.org/W4200584179","https://openalex.org/W4225515500","https://openalex.org/W4252907012","https://openalex.org/W4285102171","https://openalex.org/W4313040142"],"related_works":["https://openalex.org/W2381997239","https://openalex.org/W1592764918","https://openalex.org/W2347774719","https://openalex.org/W4385983104","https://openalex.org/W1975687574","https://openalex.org/W4246523182","https://openalex.org/W4233324169","https://openalex.org/W1964286703","https://openalex.org/W2169866437","https://openalex.org/W3056417032"],"abstract_inverted_index":{"This":[0,30],"article":[1],"presents":[2],"a":[3,10,50,60,79,85,93],"method":[4,68,77],"for":[5],"guaranteeing":[6],"the":[7,20,24,54,66,76,108,117,126],"safety":[8],"of":[9,125],"system":[11,56],"with":[12,59,92],"both":[13],"parametric":[14,112],"and":[15,41,63,113,120],"nonparametric":[16,114],"uncertainties,":[17],"while":[18],"at":[19],"same":[21],"time":[22],"decreasing":[23],"conservatism":[25],"compared":[26],"to":[27],"existing":[28],"approaches.":[29],"is":[31,57,69],"obtained":[32],"by":[33],"combining":[34],"robust":[35],"adaptive":[36],"control":[37,44],"barrier":[38,45],"functions":[39,46],"(RaCBF)":[40],"Gaussian":[42],"process":[43],"(GPCBF).":[47],"We":[48,74],"provide":[49],"condition":[51],"under":[52],"which":[53],"considered":[55],"safe":[58],"given":[61],"probability,":[62],"show":[64,99],"that":[65,100],"proposed":[67,102],"less":[70],"conservative":[71],"than":[72],"GPCBF.":[73],"evaluate":[75],"through":[78],"simulation":[80],"study,":[81],"where":[82],"we":[83],"consider":[84],"force":[86],"controlled":[87],"robot":[88],"manipulator":[89],"in":[90,116,123],"contact":[91,109,118],"partially":[94],"unknown":[95],"environment.":[96],"The":[97],"results":[98],"our":[101],"GPRaCBF":[103],"can":[104],"guarantee":[105],"bounds":[106],"on":[107],"forces":[110],"despite":[111],"uncertainties":[115],"dynamics":[119],"outperforms":[121],"GPCBF":[122],"terms":[124],"conservatism.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
