{"id":"https://openalex.org/W4416749143","doi":"https://doi.org/10.1109/iros60139.2025.11247048","title":"Power Balance-Based Recursive Composite Learning Robot Control With Reduced Computational Burden","display_name":"Power Balance-Based Recursive Composite Learning Robot Control With Reduced Computational Burden","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749143","doi":"https://doi.org/10.1109/iros60139.2025.11247048"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5021533890","display_name":"Tian Shi","orcid":"https://orcid.org/0000-0002-4634-5472"},"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":true,"raw_author_name":"Tian Shi","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104231243","display_name":"Yuejiang Zhu","orcid":null},"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":"Yuejiang Zhu","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"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":"Weibing Li","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019678142","display_name":"Yuxiang Pan","orcid":"https://orcid.org/0000-0003-1016-2065"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Southeast University,School of Automation,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"Southeast University,School of Automation,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021533890"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48278451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21339","last_page":"21344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.7756999731063843,"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":0.7756999731063843,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.05310000106692314,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.036400001496076584,"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/control-theory","display_name":"Control theory (sociology)","score":0.6449000239372253},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6347000002861023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5985000133514404},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.45500001311302185},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4544000029563904},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.4278999865055084},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4214000105857849},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.40939998626708984},{"id":"https://openalex.org/keywords/regression-analysis","display_name":"Regression analysis","score":0.385699987411499},{"id":"https://openalex.org/keywords/online-model","display_name":"Online model","score":0.3831999897956848}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6449000239372253},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6347000002861023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5985000133514404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4596000015735626},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.45500001311302185},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.4278999865055084},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4214000105857849},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.40939998626708984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40149998664855957},{"id":"https://openalex.org/C152877465","wikidata":"https://www.wikidata.org/wiki/Q208042","display_name":"Regression analysis","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.37139999866485596},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36230000853538513},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3483000099658966},{"id":"https://openalex.org/C133833761","wikidata":"https://www.wikidata.org/wiki/Q16001847","display_name":"Admittance parameters","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.33090001344680786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32670000195503235},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3199000060558319},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30820000171661377},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.30070000886917114},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2806999981403351},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2777999937534332},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26159998774528503},{"id":"https://openalex.org/C120068334","wikidata":"https://www.wikidata.org/wiki/Q45343","display_name":"Polynomial regression","level":3,"score":0.25949999690055847},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":24,"referenced_works":["https://openalex.org/W421662763","https://openalex.org/W618254468","https://openalex.org/W1967842031","https://openalex.org/W1978071493","https://openalex.org/W1987940649","https://openalex.org/W2003170560","https://openalex.org/W2008026620","https://openalex.org/W2017382559","https://openalex.org/W2028372864","https://openalex.org/W2033913782","https://openalex.org/W2058899256","https://openalex.org/W2080017937","https://openalex.org/W2102797102","https://openalex.org/W2106865725","https://openalex.org/W2133884578","https://openalex.org/W2589515277","https://openalex.org/W2787504052","https://openalex.org/W2789185723","https://openalex.org/W2964222556","https://openalex.org/W3212629328","https://openalex.org/W3212832470","https://openalex.org/W4312222218","https://openalex.org/W4391020584","https://openalex.org/W4400986309"],"related_works":[],"abstract_inverted_index":{"To":[0],"enhance":[1,98],"robustness":[2],"against":[3],"noise":[4],"resulting":[5],"from":[6],"velocity":[7],"measurement":[8],"and":[9,16,25,80,141,180],"acceleration":[10],"estimation":[11,179],"in":[12,75],"robot":[13,20,93,166],"online":[14,69],"identification":[15],"adaptive":[17],"control,":[18],"the":[19,109,171],"dynamics":[21],"should":[22],"be":[23],"filtered":[24,30,39,82,112],"parameterized":[26],"to":[27,72,97,103,125,136,152],"generate":[28],"a":[29,38,88,111,115,142,164],"regression":[31,40,83,144],"matrix":[32,41],"regarding":[33],"identifiable":[34],"parameters.":[35],"However,":[36],"generating":[37,76],"is":[42,134,150],"complicated":[43],"for":[44,68,129,146],"robots":[45,58],"with":[46,59,114],"high":[47],"degrees":[48],"of":[49,57,118,121],"freedom":[50],"(DoFs).":[51],"The":[52],"power":[53],"balance":[54],"model":[55],"(PBM)":[56],"spatial":[60],"notations":[61],"stands":[62],"out":[63],"as":[64,102],"an":[65,77,138],"effective":[66],"option":[67],"applications":[70],"owing":[71],"its":[73,130],"simplicity":[74],"easily":[78],"computed":[79],"acceleration-free":[81],"vector.":[84],"This":[85],"paper":[86],"proposes":[87],"PBM-based":[89],"recursive":[90],"composite":[91,147],"learning":[92],"control":[94],"(RCLRC)":[95],"method":[96],"parameter":[99,148,160,178],"convergence":[100,156],"so":[101],"boost":[104],"tracking":[105,181],"control.":[106,182],"Based":[107],"on":[108,163,177],"PBM,":[110],"regressor":[113],"computational":[116],"complexity":[117],"O(n)":[119],"(instead":[120],"O(n<sup":[122,126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[123,127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>)":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>)":[128],"dynamic":[131],"model-based":[132],"counterpart)":[133],"employed":[135],"calculate":[137],"excitation":[139],"matrix,":[140],"generalized":[143],"equation":[145],"update":[149],"normalized":[151],"provide":[153],"more":[154],"uniform":[155],"rates":[157],"across":[158],"all":[159],"components.":[161],"Experiments":[162],"7-DoF":[165],"manipulator":[167],"have":[168],"shown":[169],"that":[170],"proposed":[172],"PBM-RCLRC":[173],"outperforms":[174],"state-of-the-art":[175],"methods":[176]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
