{"id":"https://openalex.org/W2045585394","doi":"https://doi.org/10.1109/isic.2013.6658622","title":"Policy iteration based near-optimal control scheme for robotic manipulator with model uncertainties","display_name":"Policy iteration based near-optimal control scheme for robotic manipulator with model uncertainties","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2045585394","doi":"https://doi.org/10.1109/isic.2013.6658622","mag":"2045585394"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2013.6658622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2013.6658622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Intelligent Control (ISIC)","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/A5001713925","display_name":"Samrat Dutta","orcid":"https://orcid.org/0000-0002-0825-8589"},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Samrat Dutta","raw_affiliation_strings":["Department of Electrical Engineering, IIT Kanpur, Kanpur, India","Dept. of Electr. Eng., IIT Kanpur, Kanpur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, IIT Kanpur, Kanpur, India","institution_ids":["https://openalex.org/I94234084"]},{"raw_affiliation_string":"Dept. of Electr. Eng., IIT Kanpur, Kanpur, India","institution_ids":["https://openalex.org/I94234084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065056581","display_name":"Laxmidhar Behera","orcid":"https://orcid.org/0000-0003-1879-5609"},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Laxmidhar Behera","raw_affiliation_strings":["Department of Electrical Engineering, IIT Kanpur, Kanpur, India","Dept. of Electr. Eng., IIT Kanpur, Kanpur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, IIT Kanpur, Kanpur, India","institution_ids":["https://openalex.org/I94234084"]},{"raw_affiliation_string":"Dept. of Electr. Eng., IIT Kanpur, Kanpur, India","institution_ids":["https://openalex.org/I94234084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94234084"],"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":"358","last_page":"363"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9921000003814697,"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/T12277","display_name":"Frequency Control in Power Systems","score":0.9750999808311462,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.6846098303794861},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6788276433944702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6598528623580933},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5611938834190369},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5565158724784851},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5496793389320374},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5436701774597168},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.534588098526001},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4694744348526001},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41937392950057983},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41550299525260925},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39153796434402466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3893095850944519},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3411187529563904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18774300813674927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17657896876335144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16390559077262878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1616588532924652}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6846098303794861},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6788276433944702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6598528623580933},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5611938834190369},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5565158724784851},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5496793389320374},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5436701774597168},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.534588098526001},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4694744348526001},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41937392950057983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41550299525260925},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39153796434402466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3893095850944519},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3411187529563904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18774300813674927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17657896876335144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16390559077262878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1616588532924652},{"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isic.2013.6658622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2013.6658622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Intelligent Control (ISIC)","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":14,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1520048352","https://openalex.org/W1535049115","https://openalex.org/W2016213375","https://openalex.org/W2024303516","https://openalex.org/W2104128408","https://openalex.org/W2114355399","https://openalex.org/W2120249358","https://openalex.org/W2127018262","https://openalex.org/W2151112303","https://openalex.org/W2165726932","https://openalex.org/W3213472335","https://openalex.org/W6682793655","https://openalex.org/W6804409665"],"related_works":["https://openalex.org/W2998185885","https://openalex.org/W2567520115","https://openalex.org/W2567391447","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W1520438348","https://openalex.org/W2344226335","https://openalex.org/W4401027239","https://openalex.org/W2055801945","https://openalex.org/W2148178391"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"a":[3,36,65,97],"single":[4],"network":[5],"adaptive":[6,49],"critic(SNAC)":[7],"based":[8,51,119],"continuous":[9,37],"time":[10,38],"near-optimal":[11,58],"control":[12,23,32,68],"strategy":[13],"for":[14],"robotic":[15,98],"manipulator":[16,27,99,114],"with":[17,60,115],"partially":[18],"known":[19],"dynamics.":[20,85],"The":[21,70,86,101],"optimal":[22,107],"of":[24,35,83,88],"the":[25,31,44,81,89,105,113,116],"robot":[26],"is":[28,46,92,109],"generalized":[29],"to":[30,56],"problem":[33],"that":[34,104],"nonlinear":[39],"input":[40],"affine":[41],"system":[42],"and":[43],"solution":[45,59],"obtained":[47],"through":[48,77,94],"critic":[50],"approach.":[52],"Such":[53],"generalization":[54],"facilitates":[55],"achieve":[57],"SNAC,":[61],"which":[62],"results":[63,102],"in":[64,80],"computationally":[66],"efficient":[67],"scheme.":[69],"discussed":[71],"policy":[72],"iteration":[73],"scheme":[74],"reaches":[75],"optimality":[76],"learning":[78],"even":[79],"presence":[82],"unmodelled":[84],"validation":[87],"proposed":[90,117],"algorithm":[91],"done":[93],"simulation":[95],"on":[96],"model.":[100],"show":[103],"near":[106],"performance":[108],"achieved":[110],"while":[111],"controlling":[112],"SNAC":[118],"strategy.":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
