{"id":"https://openalex.org/W2983055254","doi":"https://doi.org/10.1109/icca.2019.8899691","title":"On implementation of feedback-based PD-type iterative learning control for robotic manipulators with hard input constraints","display_name":"On implementation of feedback-based PD-type iterative learning control for robotic manipulators with hard input constraints","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2983055254","doi":"https://doi.org/10.1109/icca.2019.8899691","mag":"2983055254"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2019.8899691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046648230","display_name":"Gijo Sebastian","orcid":"https://orcid.org/0000-0003-3771-5184"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gijo Sebastian","raw_affiliation_strings":["Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100455062","display_name":"Zeyu Li","orcid":"https://orcid.org/0000-0002-1219-977X"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zeyu Li","raw_affiliation_strings":["Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078570390","display_name":"Ying Tan","orcid":"https://orcid.org/0000-0001-8495-0246"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ying Tan","raw_affiliation_strings":["Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004224258","display_name":"Denny Oetomo","orcid":"https://orcid.org/0000-0002-2680-6489"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Denny Oetomo","raw_affiliation_strings":["Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Melbourne School of Engineering, The University of Melbourne,Parkville VIC 3010, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10188","display_name":"Advanced machining processes and optimization","score":0.987500011920929,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.968999981880188,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.8043528199195862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.690778911113739},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5986829996109009},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5108820796012878},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5046743154525757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44664108753204346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4250318109989166},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.4206595718860626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3914252519607544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1586579978466034}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8043528199195862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.690778911113739},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5986829996109009},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5108820796012878},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5046743154525757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44664108753204346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4250318109989166},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.4206595718860626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3914252519607544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1586579978466034},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2019.8899691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W1549302890","https://openalex.org/W1972162004","https://openalex.org/W1994197355","https://openalex.org/W1998433008","https://openalex.org/W2001123678","https://openalex.org/W2005274993","https://openalex.org/W2017932718","https://openalex.org/W2041242313","https://openalex.org/W2044776693","https://openalex.org/W2103597466","https://openalex.org/W2103787878","https://openalex.org/W2120158531","https://openalex.org/W2146018215","https://openalex.org/W2146396918","https://openalex.org/W2159038290","https://openalex.org/W2175405015","https://openalex.org/W2522098192","https://openalex.org/W2743708515","https://openalex.org/W2806708816","https://openalex.org/W2809482549","https://openalex.org/W2885298026","https://openalex.org/W2905015357"],"related_works":["https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W1972570117","https://openalex.org/W2320098853"],"abstract_inverted_index":{"It":[0],"is":[1,77],"well-known":[2],"that":[3,93],"a":[4,12,33,56,83],"robotic":[5],"manipulator":[6],"with":[7,60],"the":[8,24,28,43,61,64,70,74,80,94,105,116,119],"position":[9],"output":[10,44],"has":[11],"relative":[13],"degree":[14],"2.":[15],"A":[16],"standard":[17],"feed-forward":[18],"iterative":[19],"learning":[20],"control":[21],"(ILC)":[22],"requires":[23],"second":[25],"derivative":[26,72],"of":[27,63,73,82,107,118],"tracking":[29,35,75,102],"error":[30,76],"to":[31,39],"achieve":[32],"perfect":[34,101],"performance.":[36],"This":[37],"leads":[38],"implementation":[40],"issues":[41],"when":[42],"signals":[45],"are":[46],"noisy.":[47],"To":[48],"address":[49],"such":[50],"an":[51],"issue,":[52],"this":[53],"paper":[54],"presents":[55],"feedback-based":[57,96],"PD-type":[58,97],"ILC":[59,98],"consideration":[62],"actuator":[65,108],"saturation,":[66],"in":[67,104],"which":[68],"only":[69],"first":[71],"needed.":[78],"With":[79],"help":[81],"composite":[84],"energy":[85],"function,":[86],"under":[87],"mild":[88],"assumptions,":[89],"Theorem":[90],"1":[91],"shows":[92],"proposed":[95,120],"can":[99],"ensure":[100],"performance":[103],"presence":[106],"saturation.":[109],"The":[110],"simulation":[111],"and":[112],"experimental":[113],"results":[114],"show":[115],"effectiveness":[117],"method.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}