{"id":"https://openalex.org/W7136724474","doi":"https://doi.org/10.1109/access.2026.3674596","title":"Closed-Loop Position Tracking Control of a Continuum Robot Using Magnetic Localization","display_name":"Closed-Loop Position Tracking Control of a Continuum Robot Using Magnetic Localization","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7136724474","doi":"https://doi.org/10.1109/access.2026.3674596"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3674596","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3674596","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":null,"license_id":null,"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.2026.3674596","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129448272","display_name":"Haoyu Song","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Song","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"raw_orcid":"https://orcid.org/0009-0000-9202-7734","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019868911","display_name":"Junhao Cui","orcid":"https://orcid.org/0009-0003-6365-4044"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhao Cui","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103131155","display_name":"Yuanrui Huang","orcid":"https://orcid.org/0000-0001-5055-3541"},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanrui Huang","raw_affiliation_strings":["School of Robotics, Xi’an Jiaotong-Liverpool University, Suzhou, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Robotics, Xi’an Jiaotong-Liverpool University, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"last","author":{"id":null,"display_name":"Heng Wang","orcid":"https://orcid.org/0000-0002-8670-7132"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Wang","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-8670-7132","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27091005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"41497","last_page":"41507"},"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":0.2603999972343445,"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":0.2603999972343445,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.1525000035762787,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.14249999821186066,"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/tracking","display_name":"Tracking (education)","score":0.6029000282287598},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6017000079154968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157999992370605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43290001153945923},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41440001130104065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33869999647140503},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3303999900817871}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6029000282287598},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6017000079154968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6011999845504761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157999992370605},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4812999963760376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44690001010894775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43290001153945923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41440001130104065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3303999900817871},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3303000032901764},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.31029999256134033},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28690001368522644},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C78902741","wikidata":"https://www.wikidata.org/wiki/Q4915071","display_name":"Biomagnetism","level":3,"score":0.2750999927520752},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.2565999925136566}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3674596","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3674596","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:894584523ac94dc7854df486ee618198","is_oa":true,"landing_page_url":"https://doaj.org/article/894584523ac94dc7854df486ee618198","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 14, Pp 41497-41507 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3674596","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3674596","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":null,"license_id":null,"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/G1388653113","display_name":null,"funder_award_id":"2023A1515011553","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G3001499277","display_name":null,"funder_award_id":"2023A1515011553","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G7103724001","display_name":null,"funder_award_id":"62203175","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8128571667","display_name":null,"funder_award_id":"2024A1515010099","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G8527105250","display_name":null,"funder_award_id":"2024A1515010099","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Continuum":[0],"robots":[1,37],"with":[2,220],"continuous":[3],"bending":[4],"capability":[5],"have":[6,189],"been":[7],"widely":[8],"applied":[9],"in":[10,40,57],"manufacturing,":[11],"equipment":[12],"inspection,":[13],"and":[14,27,60,114,149,178,210,214],"minimally":[15],"invasive":[16],"surgeries":[17],"for":[18,126,223],"their":[19],"inherent":[20],"compliance,":[21],"easy":[22],"access":[23],"to":[24,84,139,188],"confined":[25],"spaces,":[26],"large":[28],"workspace.":[29],"However,":[30],"there":[31],"exist":[32],"significant":[33],"errors":[34],"when":[35],"continuum":[36,94,155,218],"are":[38],"controlled":[39],"an":[41,130],"open-loop":[42],"manner":[43],"by":[44,120],"directly":[45],"inverting":[46],"the":[47,97,111,141,154,161,199,232],"kinematic":[48,51],"model,":[49],"because":[50],"models":[52],"cannot":[53],"accurately":[54],"cover":[55],"nonlinearities":[56],"actuation":[58],"mechanisms":[59],"compliant":[61],"bodies":[62],"as":[63,65,80],"well":[64],"unknown":[66],"external":[67],"interaction":[68],"forces.":[69],"In":[70,96],"this":[71],"paper,":[72],"a":[73,91,104,121,167,190],"closed-loop":[74,163,201],"control":[75,89,143,164,170,202,216],"method":[76,165,203],"using":[77,129,145,204],"magnetic":[78,100,116,123,146,182],"localization":[79,101,147,183,206],"feedback":[81],"is":[82,108,118,137,185],"proposed":[83,98,162,200],"achieve":[85],"accurate":[86,211],"position":[87,127,169,192,212],"tracking":[88,215],"of":[90,153,172,194,217,225],"dual-section":[92],"cable-driven":[93],"robot.":[95,156,233],"wireless":[99],"system,":[102],"only":[103],"passive":[105],"permanent":[106],"magnet":[107],"installed":[109],"on":[110,176,231],"robot":[112],"tip,":[113],"its":[115],"field":[117],"measured":[119],"nearby":[122],"sensor":[124],"array":[125],"estimation":[128,213],"extended":[131],"Kalman":[132],"filter.":[133],"A":[134],"proportional-integral":[135],"controller":[136],"designed":[138],"generate":[140],"cable":[142],"input":[144],"information":[148],"differential":[150],"inverse":[151],"kinematics":[152],"Experimental":[157],"results":[158],"demonstrate":[159],"that":[160],"achieves":[166],"high":[168],"accuracy":[171],"around":[173,195],"5":[174],"mm":[175],"rectangular":[177],"pentagram":[179],"trajectories.":[180],"The":[181],"system":[184],"also":[186],"validated":[187],"small":[191],"error":[193],"3":[196],"mm.":[197],"Therefore,":[198],"permanent-magnet-based":[205],"can":[207],"enable":[208],"real-time":[209],"robots,":[219],"no":[221],"need":[222],"installation":[224],"wired":[226],"sensors":[227],"or":[228],"powered":[229],"electronics":[230]},"counts_by_year":[],"updated_date":"2026-03-21T06:30:42.041108","created_date":"2026-03-17T00:00:00"}