{"id":"https://openalex.org/W4408282137","doi":"https://doi.org/10.1109/iecon55916.2024.10905572","title":"Incremental Model Predictive Control for Velocity-Controlled Robot Manipulators","display_name":"Incremental Model Predictive Control for Velocity-Controlled Robot Manipulators","publication_year":2024,"publication_date":"2024-11-03","ids":{"openalex":"https://openalex.org/W4408282137","doi":"https://doi.org/10.1109/iecon55916.2024.10905572"},"language":"en","primary_location":{"id":"doi:10.1109/iecon55916.2024.10905572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","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/A5100635293","display_name":"Yongchao Wang","orcid":"https://orcid.org/0000-0001-9738-3076"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongchao Wang","raw_affiliation_strings":["Xidian University,School of Aerospace Science and Technology,Xi’an,China"],"affiliations":[{"raw_affiliation_string":"Xidian University,School of Aerospace Science and Technology,Xi’an,China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044683742","display_name":"Hengrui Li","orcid":"https://orcid.org/0000-0003-4630-8097"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hengrui Li","raw_affiliation_strings":["Agile Robots,Algorithm Engineer, Research and Development Department,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Agile Robots,Algorithm Engineer, Research and Development Department,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331572","display_name":"Cong Li","orcid":"https://orcid.org/0000-0002-1103-4818"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Li","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100683475","display_name":"Fangzhou Liu","orcid":"https://orcid.org/0000-0002-0715-7313"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangzhou Liu","raw_affiliation_strings":["Harbin Institute of Technology,Research Institute of Intelligent Control and Systems,Harbin,China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,Research Institute of Intelligent Control and Systems,Harbin,China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100635293"],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36036655,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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":0.9760000109672546,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9753999710083008,"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/model-predictive-control","display_name":"Model predictive control","score":0.7215502858161926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.587070882320404},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5823620557785034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.573257327079773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3629392385482788},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34656548500061035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31865742802619934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2124621868133545}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7215502858161926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.587070882320404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5823620557785034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.573257327079773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3629392385482788},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34656548500061035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31865742802619934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2124621868133545}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon55916.2024.10905572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1509890661","https://openalex.org/W1594234351","https://openalex.org/W1964649988","https://openalex.org/W2013439434","https://openalex.org/W2019606703","https://openalex.org/W2078242231","https://openalex.org/W2126553772","https://openalex.org/W2127832757","https://openalex.org/W2134673975","https://openalex.org/W2140515110","https://openalex.org/W2461045134","https://openalex.org/W2470482648","https://openalex.org/W2591194352","https://openalex.org/W2765094417","https://openalex.org/W2913232290","https://openalex.org/W2914267398","https://openalex.org/W2914863619","https://openalex.org/W2982526735","https://openalex.org/W2988334419","https://openalex.org/W3005865645","https://openalex.org/W3137245548","https://openalex.org/W4200093125","https://openalex.org/W4212979708","https://openalex.org/W4246923680","https://openalex.org/W4250589301","https://openalex.org/W4385062991","https://openalex.org/W4392208050"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2556120871"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3],"incremental":[4,47,71,132],"model":[5,72,133],"predictive":[6,73,134],"controller":[7,74],"is":[8,21,49,75,88,115],"proposed":[9],"for":[10],"the":[11,16,25,29,32,41,46,53,56,70,107,127,130],"velocity-controlled":[12],"robot":[13,121],"manipulator.":[14],"First,":[15],"time-delay":[17],"estimation":[18],"(TDE)":[19],"technique":[20],"used":[22],"to":[23,37,90,99,105,125],"approximate":[24],"unknown":[26],"discrepancy":[27],"between":[28],"command":[30],"and":[31,40,61,67],"real":[33],"joint":[34,65],"velocity":[35,38,68],"due":[36],"dynamics,":[39],"equation":[42,58],"of":[43,55,59,129],"motion":[44,60],"in":[45],"form":[48],"obtained.":[50],"Then,":[51],"on":[52,119],"basis":[54],"resulting":[57],"taking":[62],"into":[63],"account":[64],"position":[66],"constraints,":[69],"developed":[76,131],"by":[77],"formulating":[78],"a":[79,91,111,120],"constrained":[80,86,108],"optimal":[81],"control":[82,114],"problem":[83],"(OCP).":[84],"The":[85],"OCP":[87],"cast":[89],"quadratic":[92],"programming":[93],"(QP)":[94],"problem,":[95],"making":[96],"it":[97],"possible":[98],"employ":[100],"computationally":[101],"efficient":[102],"QP":[103],"solvers":[104],"solve":[106],"OCP.":[109],"As":[110],"result,":[112],"real-time":[113],"guaranteed.":[116],"Finally,":[117],"experiments":[118],"manipulator":[122],"are":[123],"implemented":[124],"verify":[126],"effectiveness":[128],"controller.":[135]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}