{"id":"https://openalex.org/W4405786113","doi":"https://doi.org/10.1109/iros58592.2024.10802620","title":"Adaptive Model Predictive Control for Differential-Algebraic Systems towards a Higher Path Accuracy for Physically Coupled Robots","display_name":"Adaptive Model Predictive Control for Differential-Algebraic Systems towards a Higher Path Accuracy for Physically Coupled Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786113","doi":"https://doi.org/10.1109/iros58592.2024.10802620"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100348098","display_name":"Xin Ye","orcid":"https://orcid.org/0000-0001-9306-9389"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xin Ye","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115021706","display_name":"Karl Handwerker","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Karl Handwerker","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040502908","display_name":"S\u00f6ren Hohmann","orcid":"https://orcid.org/0000-0002-4170-1431"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Hohmann","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute of Control Systems,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute of Control Systems,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74075276,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8497","last_page":"8503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9909999966621399,"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":0.9830999970436096,"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":0.7369951605796814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6050859689712524},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5964184403419495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5787428021430969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5687475204467773},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5600639581680298},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.4831399619579315},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4827260673046112},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4213409125804901},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3428332209587097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26015058159828186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19321739673614502},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14392733573913574}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7369951605796814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6050859689712524},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5964184403419495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5787428021430969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5687475204467773},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5600639581680298},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.4831399619579315},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4827260673046112},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4213409125804901},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3428332209587097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26015058159828186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19321739673614502},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14392733573913574},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W280536263","https://openalex.org/W1965759128","https://openalex.org/W1970752792","https://openalex.org/W2091751180","https://openalex.org/W2109656638","https://openalex.org/W2162495121","https://openalex.org/W2166751342","https://openalex.org/W2221321873","https://openalex.org/W2765300328","https://openalex.org/W2901663876","https://openalex.org/W2906249380","https://openalex.org/W2906917464","https://openalex.org/W3089216235","https://openalex.org/W4230379404","https://openalex.org/W4283784845","https://openalex.org/W4285309988","https://openalex.org/W4292402580","https://openalex.org/W4320154402","https://openalex.org/W4385451944","https://openalex.org/W4385452089","https://openalex.org/W6634273043","https://openalex.org/W6742983830"],"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/W2047656848"],"abstract_inverted_index":{"The":[0,68,93],"physical":[1],"coupling":[2],"between":[3,90],"robots":[4,27],"has":[5],"the":[6,10,20,34,38,42,77,91,105,109],"potential":[7],"to":[8,75,104],"improve":[9],"capabilities":[11],"of":[12,24,45,101],"multi-robot":[13],"systems":[14],"in":[15,108],"challenging":[16],"manufacturing":[17],"processes.":[18],"However,":[19],"path":[21,97],"tracking":[22,98],"accuracy":[23],"physically":[25],"coupled":[26],"is":[28,60,85],"not":[29],"studied":[30],"adequately,":[31],"especially":[32],"considering":[33],"uncertain":[35,69],"kinematic":[36,70],"parameters,":[37],"mechanical":[39],"elasticity,":[40],"and":[41],"built-in":[43],"controllers":[44],"off-the-shelf":[46],"robots.":[47,92],"This":[48],"paper":[49],"addresses":[50],"these":[51],"issues":[52],"with":[53],"a":[54,88,96],"novel":[55],"differential-algebraic":[56],"system":[57],"model":[58,82],"which":[59],"verified":[61],"against":[62],"measurement":[63],"data":[64],"from":[65],"real":[66],"execution.":[67],"parameters":[71],"are":[72],"estimated":[73],"online":[74],"adapt":[76],"model.":[78],"Consequently,":[79],"an":[80],"adaptive":[81],"predictive":[83],"controller":[84,94],"designed":[86],"as":[87],"coordinator":[89],"achieves":[95],"error":[99],"reduction":[100],"88.6%":[102],"compared":[103],"state-of-the-art":[106],"benchmark":[107],"simulation.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
