{"id":"https://openalex.org/W3135284550","doi":"https://doi.org/10.1109/access.2021.3064336","title":"Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint","display_name":"Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3135284550","doi":"https://doi.org/10.1109/access.2021.3064336","mag":"3135284550"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3064336","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3064336","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2021.3064336","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038252270","display_name":"Juan Li","orcid":"https://orcid.org/0000-0001-7116-836X"},"institutions":[{"id":"https://openalex.org/I91125648","display_name":"Wuhan Institute of Technology","ror":"https://ror.org/04jcykh16","country_code":"CN","type":"education","lineage":["https://openalex.org/I91125648"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan Li","raw_affiliation_strings":["Hubei Key Laboratory of Intelligent Robot, Wuhan Institute of Technology, Wuhan, China","School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-7116-836X","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Intelligent Robot, Wuhan Institute of Technology, Wuhan, China","institution_ids":["https://openalex.org/I91125648"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, China","institution_ids":["https://openalex.org/I91125648"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102799726","display_name":"Lejun Wang","orcid":"https://orcid.org/0000-0002-6791-2931"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lejun Wang","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100321531","display_name":"Zhen Chen","orcid":"https://orcid.org/0000-0002-2885-066X"},"institutions":[{"id":"https://openalex.org/I4210119942","display_name":"Wuhan Textile University","ror":"https://ror.org/02jgsf398","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210119942"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Chen","raw_affiliation_strings":["Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China","institution_ids":["https://openalex.org/I4210119942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047802488","display_name":"Zixin Huang","orcid":"https://orcid.org/0000-0002-4057-061X"},"institutions":[{"id":"https://openalex.org/I4210119942","display_name":"Wuhan Textile University","ror":"https://ror.org/02jgsf398","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210119942"]},{"id":"https://openalex.org/I91125648","display_name":"Wuhan Institute of Technology","ror":"https://ror.org/04jcykh16","country_code":"CN","type":"education","lineage":["https://openalex.org/I91125648"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixin Huang","raw_affiliation_strings":["Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China","School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, China","School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China","institution_ids":["https://openalex.org/I4210119942"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, China","institution_ids":["https://openalex.org/I91125648"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan, China","institution_ids":["https://openalex.org/I91125648"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9474,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73638642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"38611","last_page":"38619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9990000128746033,"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/control-theory","display_name":"Control theory (sociology)","score":0.7989276051521301},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7617985010147095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6061146259307861},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5788906216621399},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5511901378631592},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5067058205604553},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4740980565547943},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.472177654504776},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45488905906677246},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42907094955444336},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27043694257736206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2216205596923828},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15961524844169617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12757223844528198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09545356035232544}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7989276051521301},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7617985010147095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061146259307861},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5788906216621399},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5511901378631592},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5067058205604553},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4740980565547943},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.472177654504776},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45488905906677246},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42907094955444336},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27043694257736206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2216205596923828},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15961524844169617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12757223844528198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09545356035232544},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3064336","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3064336","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:947a892f0c26493a960624e94fea0caa","is_oa":true,"landing_page_url":"https://doaj.org/article/947a892f0c26493a960624e94fea0caa","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 38611-38619 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3064336","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3064336","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G191029374","display_name":null,"funder_award_id":"HBIRL 202006","funder_id":"https://openalex.org/F4320325438","funder_display_name":"Wuhan Institute of Technology"},{"id":"https://openalex.org/G4113864961","display_name":null,"funder_award_id":"2019CFB172","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G6680729197","display_name":null,"funder_award_id":"K202035","funder_id":"https://openalex.org/F4320325438","funder_display_name":"Wuhan Institute of Technology"}],"funders":[{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320325438","display_name":"Wuhan Institute of Technology","ror":"https://ror.org/04jcykh16"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1595159159","https://openalex.org/W1942073751","https://openalex.org/W1960096875","https://openalex.org/W2009213991","https://openalex.org/W2026601950","https://openalex.org/W2041079378","https://openalex.org/W2052300503","https://openalex.org/W2121777055","https://openalex.org/W2128592712","https://openalex.org/W2138603787","https://openalex.org/W2343716380","https://openalex.org/W2390778571","https://openalex.org/W2463523319","https://openalex.org/W2465284394","https://openalex.org/W2513614986","https://openalex.org/W2601173509","https://openalex.org/W2621769222","https://openalex.org/W2790355505","https://openalex.org/W2790432826","https://openalex.org/W2791207539","https://openalex.org/W2828989159","https://openalex.org/W3027235586"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,7,12,22,38,43,47,51,56,62,71,79,82,89,92,111,118,122,126,133,139,150,159,162],"position":[3],"control":[4,29],"problem":[5],"of":[6,50,91,121,161],"planar":[8],"3R":[9],"manipulator":[10],"with":[11,31],"middle":[13],"passive":[14],"joint,":[15],"whose":[16],"dynamic":[17,44],"constraint":[18],"is":[19,34,74,85],"caused":[20,77],"by":[21,78],"second-order":[23],"non-holonomic":[24],"characteristic.":[25],"A":[26],"drift":[27,90],"suppression":[28],"method":[30],"two":[32],"stages":[33],"proposed":[35,163],"for":[36,117],"positioning":[37],"system.":[39],"First,":[40],"we":[41,109],"give":[42],"model":[45],"and":[46,70,95],"target":[48],"angle":[49],"system":[52],"solution":[53],"algorithm.":[54],"Then,":[55],"controllers":[57,134],"are":[58,135],"designed":[59,136],"to":[60,66,87,104,115,137,149],"make":[61],"active":[63],"links":[64,102,145],"reach":[65,103],"their":[67,105],"desired":[68,106,151],"states,":[69],"second":[72,93],"link":[73,94],"rotating":[75],"freely":[76],"drift.":[80],"So,":[81],"parametric":[83,123],"trajectory":[84,98,124],"planned":[86,140],"suppress":[88],"tracking":[96],"this":[97],"can":[99,146],"makes":[100],"all":[101,130,144],"states.":[107],"Next,":[108],"use":[110],"differential":[112],"evolution":[113],"algorithm":[114],"search":[116],"suitable":[119],"parameters":[120],"taking":[125],"coupling":[127],"constraints":[128],"among":[129],"links.":[131],"Then":[132],"track":[138],"trajectories,":[141],"so":[142],"that":[143],"be":[147],"controlled":[148],"states":[152],"simultaneously.":[153],"Finally,":[154],"numerical":[155],"simulation":[156],"results":[157],"illuminate":[158],"effectiveness":[160],"method.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
