{"id":"https://openalex.org/W7162656656","doi":"https://doi.org/10.1109/access.2026.3697834","title":"Online Iterative Learning Contouring Control","display_name":"Online Iterative Learning Contouring Control","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7162656656","doi":"https://doi.org/10.1109/access.2026.3697834"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3697834","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3697834","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.2026.3697834","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001590972","display_name":"Thanh\u2010Quan Ta","orcid":null},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Thanh-Quan Ta","raw_affiliation_strings":["Advanced Institute of Manufacturing with High-Tech Innovations, National Chung Cheng University, Chiayi, Taiwan"],"raw_orcid":"https://orcid.org/0009-0000-4384-6194","affiliations":[{"raw_affiliation_string":"Advanced Institute of Manufacturing with High-Tech Innovations, National Chung Cheng University, Chiayi, Taiwan","institution_ids":["https://openalex.org/I148099254"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137295239","display_name":"Shyh-Leh Chen","orcid":"https://orcid.org/0000-0002-3016-9195"},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shyh-Leh Chen","raw_affiliation_strings":["Advanced Institute of Manufacturing with High-Tech Innovations, National Chung Cheng University, Chiayi, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-3016-9195","affiliations":[{"raw_affiliation_string":"Advanced Institute of Manufacturing with High-Tech Innovations, National Chung Cheng University, Chiayi, Taiwan","institution_ids":["https://openalex.org/I148099254"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148099254"],"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":0.63691624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"82265","last_page":"82285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.09160000085830688,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.09160000085830688,"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":0.07959999889135361,"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/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.06549999862909317,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/contouring","display_name":"Contouring","score":0.8562999963760376},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.7785999774932861},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6546000242233276},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4684999883174896},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.45680001378059387},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43560001254081726},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42879998683929443},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.35899999737739563}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.8562999963760376},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7785999774932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7757999897003174},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6546000242233276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.499099999666214},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4684999883174896},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44209998846054077},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42879998683929443},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.35899999737739563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3296999931335449},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.32019999623298645},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.30320000648498535},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.28450000286102295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2766000032424927},{"id":"https://openalex.org/C115903097","wikidata":"https://www.wikidata.org/wiki/Q7094097","display_name":"Online machine learning","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C2780102126","wikidata":"https://www.wikidata.org/wiki/Q10928179","display_name":"Online and offline","level":2,"score":0.25189998745918274},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3697834","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3697834","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:558cb8db1834477589f620cf9c7ce1be","is_oa":true,"landing_page_url":"https://doaj.org/article/558cb8db1834477589f620cf9c7ce1be","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 82265-82285 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3697834","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3697834","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":[],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"An":[0],"online":[1,53,144,175],"iterative":[2,33],"learning":[3,34,64,84],"contouring":[4,14,158,203],"control":[5,35],"(online":[6],"ILCC)":[7],"method":[8,125,132],"is":[9,92],"proposed":[10,52,124,143,174],"to":[11,161],"improve":[12],"the":[13,29,51,63,89,123,142,164,169,173,188],"performance":[15,159],"of":[16,119,149,163],"multi-axis":[17,202],"motion":[18],"systems":[19],"by":[20],"simultaneously":[21],"reducing":[22],"position":[23,151],"and":[24,32,48,61,77,88,102,122,133,152,156,181,191,197,212,219],"orientation":[25,153],"contour":[26,58,154],"errors.":[27],"Unlike":[28],"conventional":[30],"ILCC":[31,47,54,131,145,176,190],"(ILC)":[36],"methods,":[37,193],"which":[38],"are":[39,86],"formulated":[40],"in":[41,66,82],"an":[42,56,129],"offline":[43,49,83,130,165,189],"batch-learning":[44],"framework":[45],"(offline":[46],"ILC),":[50],"employs":[55],"equivalent":[57],"error":[59],"formulation":[60],"updates":[62],"command":[65],"real":[67],"time":[68,118],"at":[69],"each":[70],"sampling":[71,117],"instant.":[72],"Consequently,":[73],"large-scale":[74],"matrix":[75],"operations":[76],"high":[78],"memory":[79],"requirements":[80],"inherent":[81],"frameworks":[85],"avoided,":[87],"computational":[90,184],"burden":[91],"significantly":[93],"reduced,":[94],"making":[95],"real-time":[96,201],"implementation":[97],"feasible":[98],"even":[99],"for":[100,200],"long":[101],"multi-segment":[103,208],"trajectories.":[104],"Experimental":[105],"validation":[106],"was":[107,126],"conducted":[108],"on":[109],"a":[110,116,134],"commercial":[111],"six-axis":[112],"industrial":[113],"robot":[114],"with":[115,128],"1":[120],"ms,":[121],"compared":[127],"Newton-ILC":[135,170,192],"approach.":[136],"The":[137],"experimental":[138],"results":[139],"show":[140],"that":[141,162],"guarantees":[146],"monotonic":[147],"convergence":[148],"both":[150,187],"errors,":[155],"achieves":[157],"comparable":[160],"ILCC,":[166],"while":[167],"outperforming":[168],"method.":[171],"Furthermore,":[172],"exhibits":[177],"substantially":[178],"simplified":[179],"computation":[180],"markedly":[182],"higher":[183],"efficiency":[185],"than":[186],"demonstrating":[194],"its":[195,217],"effectiveness":[196],"practical":[198],"feasibility":[199],"applications.":[204],"Additional":[205],"validations":[206],"involving":[207],"trajectories,":[209],"time-varying":[210],"payloads,":[211],"helical":[213],"paths":[214],"further":[215],"validate":[216],"robustness":[218],"generality.":[220]},"counts_by_year":[],"updated_date":"2026-06-05T06:17:00.636019","created_date":"2026-05-29T00:00:00"}