{"id":"https://openalex.org/W3202279311","doi":"https://doi.org/10.1109/case49439.2021.9551523","title":"Feedforward Enhancement through Iterative Learning Control for Robotic Manipulator","display_name":"Feedforward Enhancement through Iterative Learning Control for Robotic Manipulator","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3202279311","doi":"https://doi.org/10.1109/case49439.2021.9551523","mag":"3202279311"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nottingham-repository.worktribe.com/output/5750816","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102905932","display_name":"Chengyuan Liu","orcid":"https://orcid.org/0000-0001-5837-8063"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chengyuan Liu","raw_affiliation_strings":["Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K"],"affiliations":[{"raw_affiliation_string":"Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698753","display_name":"Mingfeng Wang","orcid":"https://orcid.org/0000-0001-6551-0325"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingfeng Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Brunel University London, London, the U.K","Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Brunel University London, London, the U.K","institution_ids":[]},{"raw_affiliation_string":"Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101983688","display_name":"Xuefang Li","orcid":"https://orcid.org/0000-0003-3898-6509"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefang Li","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-Sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048525765","display_name":"Svetan Ratchev","orcid":"https://orcid.org/0000-0001-9955-2806"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Svetan Ratchev","raw_affiliation_strings":["Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K"],"affiliations":[{"raw_affiliation_string":"Institute for Advanced Manufacturing, University of Nottingham, Nottingham, The U.K","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102905932"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4159,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61769396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1067","last_page":"1072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9915000200271606,"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"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9915000200271606,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.9121625423431396},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7849293947219849},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.702806830406189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100753545761108},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6043902635574341},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.598523736000061},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5890957117080688},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4909129738807678},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48415786027908325},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4624306261539459},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4447486996650696},{"id":"https://openalex.org/keywords/repetitive-control","display_name":"Repetitive control","score":0.4446639120578766},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44061076641082764},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4389420747756958},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4324825704097748},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4207376539707184},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32015132904052734},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.31408610939979553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2800072729587555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23933807015419006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2158806324005127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19907191395759583},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07810533046722412},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.07668259739875793}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.9121625423431396},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7849293947219849},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.702806830406189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100753545761108},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6043902635574341},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.598523736000061},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5890957117080688},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4909129738807678},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48415786027908325},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4624306261539459},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4447486996650696},{"id":"https://openalex.org/C2780842517","wikidata":"https://www.wikidata.org/wiki/Q7314001","display_name":"Repetitive control","level":3,"score":0.4446639120578766},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44061076641082764},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4389420747756958},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4324825704097748},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4207376539707184},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32015132904052734},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31408610939979553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2800072729587555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23933807015419006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2158806324005127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19907191395759583},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07810533046722412},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.07668259739875793},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/case49439.2021.9551523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:5750816","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CASE49439.2021.9551523","pdf_url":"https://nottingham-repository.worktribe.com/output/5750816","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},{"id":"pmh:oai:figshare.com:article/17009078","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Feedforward_enhancement_through_iterative_learning_control_for_robotic_manipulator/17009078","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:5750816","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CASE49439.2021.9551523","pdf_url":"https://nottingham-repository.worktribe.com/output/5750816","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5191686366","display_name":"Wing Lean Innovative Future Technology (Wing LIFT)","funder_award_id":"113162","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"}],"funders":[{"id":"https://openalex.org/F4320335087","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3202279311.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1103986","https://openalex.org/W2041242313","https://openalex.org/W2058209887","https://openalex.org/W2063377907","https://openalex.org/W2065682774","https://openalex.org/W2078736691","https://openalex.org/W2103787878","https://openalex.org/W2104722610","https://openalex.org/W2131388401","https://openalex.org/W2149620520","https://openalex.org/W2171695274","https://openalex.org/W2172294031","https://openalex.org/W2180051414","https://openalex.org/W2643936728","https://openalex.org/W2739636222","https://openalex.org/W2763565305","https://openalex.org/W2799581651","https://openalex.org/W2805421438","https://openalex.org/W2907042150","https://openalex.org/W2978947204","https://openalex.org/W2983055254","https://openalex.org/W3003232836","https://openalex.org/W3100966471"],"related_works":["https://openalex.org/W1581010919","https://openalex.org/W1557010079","https://openalex.org/W2379960361","https://openalex.org/W2133373519","https://openalex.org/W2047374070","https://openalex.org/W1985604192","https://openalex.org/W2478562663","https://openalex.org/W2074966081","https://openalex.org/W2176100605","https://openalex.org/W2104608934"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3],"iterative":[4],"learning":[5],"control":[6,13,34,39,46,55,117],"(ILC)":[7],"algorithm":[8,21,83],"to":[9,43,52,65,108,132,140,144],"enhance":[10],"the":[11,23,26,45,49,54,58,80,110,115,121,124,133],"feedforward":[12],"(FFC)":[14],"for":[15],"robotic":[16,106],"manipulators.":[17],"The":[18,37,77],"proposed":[19,81,116],"ILC":[20,82,122],"enables":[22],"cooperation":[24],"between":[25],"ILC,":[27],"inverse":[28],"dynamics,":[29],"and":[30,64,69,112,128,142],"a":[31,87,103],"PD":[32],"feedback":[33],"(FBC)":[35],"module.":[36],"entire":[38],"scheme":[40],"is":[41,84,99],"elaborated":[42],"guarantee":[44],"accuracy":[47],"of":[48,57,79,114],"first":[50],"implementation;":[51],"improve":[53],"performance":[56],"manipulator":[59,107],"progressively":[60],"with":[61],"successive":[62],"iterations;":[63],"compensate":[66],"both":[67],"repetitive":[68],"non-repetitive":[70],"disturbances,":[71],"as":[72,74],"well":[73,88],"various":[75],"uncertainties.":[76],"convergence":[78],"analysed":[85],"using":[86],"established":[89],"Lyapunov-like":[90],"composite":[91],"energy":[92],"function":[93],"(CEF).":[94],"A":[95],"trajectory":[96],"tracking":[97,126],"test":[98],"carried":[100],"out":[101],"by":[102],"seven-degree-of-freedom":[104],"(7-DoF)":[105],"demonstrate":[109],"effectiveness":[111],"efficiency":[113],"scheme.":[118],"By":[119],"implementing":[120],"algorithm,":[123],"maximum":[125],"error":[127],"its":[129],"percentage":[130],"respect":[131],"motion":[134],"range":[135],"are":[136],"improved":[137],"from":[138],"5.78\u00b0":[139],"1.09\u00b0,":[141],"21.09%":[143],"3.99%,":[145],"respectively,":[146],"within":[147],"three":[148],"iterations.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
