{"id":"https://openalex.org/W2883576090","doi":"https://doi.org/10.1109/iros.2018.8594267","title":"Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions","display_name":"Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2883576090","doi":"https://doi.org/10.1109/iros.2018.8594267","mag":"2883576090"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5018836771","display_name":"Karime Pereida","orcid":"https://orcid.org/0000-0002-8576-2164"},"institutions":[{"id":"https://openalex.org/I4210162454","display_name":"Dynamic Systems Analysis (Canada)","ror":"https://ror.org/05c2ase32","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210162454"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Karime Pereida","raw_affiliation_strings":["Dynamic Systems Lab, Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I4210162454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I4210162454","display_name":"Dynamic Systems Analysis (Canada)","ror":"https://ror.org/05c2ase32","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210162454"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab, Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I4210162454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018836771"],"corresponding_institution_ids":["https://openalex.org/I4210162454"],"apc_list":null,"apc_paid":null,"fwci":4.0465,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.94424228,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7831","last_page":"7837"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"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":0.9977999925613403,"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/trajectory","display_name":"Trajectory","score":0.8076046705245972},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7094370722770691},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6921796798706055},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6827231049537659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578947901725769},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5642157196998596},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5528671741485596},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4761274456977844},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44784677028656006},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4181056022644043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41765856742858887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3494124412536621},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23070675134658813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18088757991790771},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14565935730934143}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8076046705245972},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7094370722770691},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6921796798706055},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6827231049537659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578947901725769},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5642157196998596},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5528671741485596},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4761274456977844},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44784677028656006},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4181056022644043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41765856742858887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3494124412536621},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23070675134658813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18088757991790771},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14565935730934143},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1508545910","https://openalex.org/W1977230515","https://openalex.org/W1978956894","https://openalex.org/W2001733650","https://openalex.org/W2016095551","https://openalex.org/W2016211524","https://openalex.org/W2016343476","https://openalex.org/W2066133236","https://openalex.org/W2075467386","https://openalex.org/W2101494153","https://openalex.org/W2106907917","https://openalex.org/W2109191523","https://openalex.org/W2115562234","https://openalex.org/W2131588967","https://openalex.org/W2156699614","https://openalex.org/W2281096776","https://openalex.org/W2313824360","https://openalex.org/W2323569626","https://openalex.org/W2396317032","https://openalex.org/W2910221532","https://openalex.org/W2963768081","https://openalex.org/W4231017914","https://openalex.org/W4241709857","https://openalex.org/W6699192046","https://openalex.org/W6758205777"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W4323768008","https://openalex.org/W2161688277","https://openalex.org/W1990473637","https://openalex.org/W1545539801","https://openalex.org/W4280596088","https://openalex.org/W1966075561"],"abstract_inverted_index":{"Robots":[0],"and":[1,10,22,26,76,127,140,166],"automated":[2],"systems":[3],"are":[4,15,30,176],"increasingly":[5],"being":[6],"introduced":[7],"to":[8,17,32,66,74,89,111,162],"unknown":[9,75],"dynamic":[11,38],"environments":[12],"where":[13],"they":[14],"required":[16,31],"handle":[18],"disturbances,":[19],"unmodeled":[20],"dynamics,":[21],"parametric":[23],"uncertainties.":[24],"Robust":[25],"adaptive":[27,47,64,84,164],"control":[28,55],"strategies":[29],"achieve":[33],"high":[34],"performance":[35],"in":[36,91,144],"these":[37],"environments.":[39],"In":[40],"this":[41,108],"paper,":[42],"we":[43],"propose":[44],"a":[45,71,92,98,119,147,156,167],"novel":[46],"model":[48,53,103,110],"predictive":[49,54,104],"controller":[50,65,85,105],"that":[51,151],"combines":[52],"(MPC)":[56],"with":[57],"an":[58],"underlying":[59],"L":[60,80],"<sub":[61,81],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[62,82],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[63,83],"improve":[67],"trajectory":[68,158],"tracking":[69,159],"of":[70,136],"system":[72,88],"subject":[73],"changing":[77],"disturbances.":[78],"The":[79],"forces":[86],"the":[87,113,133,137,152],"behave":[90],"predefined":[93],"way,":[94],"as":[95],"specified":[96],"by":[97],"reference":[99,109,115],"model.":[100],"A":[101],"higher-level":[102],"then":[106],"uses":[107],"calculate":[112],"optimal":[114],"input":[116,126],"based":[117],"on":[118,132,146],"cost":[120],"function,":[121],"while":[122],"taking":[123],"into":[124],"account":[125],"state":[128],"constraints.":[129],"We":[130,149],"focus":[131],"experimental":[134],"validation":[135],"proposed":[138,153],"approach":[139,154],"demonstrate":[141],"its":[142],"effectiveness":[143],"experiments":[145],"quadrotor.":[148],"show":[150],"has":[155],"lower":[157],"error":[160],"compared":[161],"non-predictive,":[163],"approaches":[165],"predictive,":[168],"nonadaptive":[169],"approach,":[170],"even":[171],"when":[172],"external":[173],"wind":[174],"disturbances":[175],"applied.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":10}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
