{"id":"https://openalex.org/W4399114376","doi":"https://doi.org/10.1109/jiot.2024.3406152","title":"Fixed-Time Neuro-Optimal Adaptive Control With Input Saturation for Uncertain Robots","display_name":"Fixed-Time Neuro-Optimal Adaptive Control With Input Saturation for Uncertain Robots","publication_year":2024,"publication_date":"2024-05-28","ids":{"openalex":"https://openalex.org/W4399114376","doi":"https://doi.org/10.1109/jiot.2024.3406152"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3406152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3406152","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5101551308","display_name":"Yanli Fan","orcid":"https://orcid.org/0000-0002-6337-9674"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanli Fan","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","College of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6337-9674","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"College of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","College of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"College of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100427645","display_name":"Yongming Li","orcid":"https://orcid.org/0000-0003-1789-8278"},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongming Li","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Jinzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1789-8278","affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Jinzhou, China","institution_ids":["https://openalex.org/I2898894"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4619,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96477208,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"11","issue":"17","first_page":"28906","last_page":"28917"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9819999933242798,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9398999810218811,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6814633011817932},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6492264270782471},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5958568453788757},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5763682723045349},{"id":"https://openalex.org/keywords/hamilton\u2013jacobi\u2013bellman-equation","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","score":0.5145649313926697},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5076476335525513},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.49828505516052246},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4751434326171875},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.46097269654273987},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4456751346588135},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4314590394496918},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42870303988456726},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3778078556060791},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19762131571769714},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16726699471473694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1406596302986145},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08696445822715759}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814633011817932},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6492264270782471},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5958568453788757},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5763682723045349},{"id":"https://openalex.org/C196978813","wikidata":"https://www.wikidata.org/wiki/Q3302775","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","level":3,"score":0.5145649313926697},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5076476335525513},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.49828505516052246},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4751434326171875},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.46097269654273987},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4456751346588135},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4314590394496918},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42870303988456726},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3778078556060791},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19762131571769714},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16726699471473694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1406596302986145},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08696445822715759},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2024.3406152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3406152","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5600000023841858,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1407843300","display_name":null,"funder_award_id":"2023B1515120019","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G3939246514","display_name":null,"funder_award_id":"U20A20200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1587799944","https://openalex.org/W1983523797","https://openalex.org/W1988837728","https://openalex.org/W2104843094","https://openalex.org/W2163334725","https://openalex.org/W2787504052","https://openalex.org/W2895869031","https://openalex.org/W3001014530","https://openalex.org/W3009523569","https://openalex.org/W3033532966","https://openalex.org/W3040925116","https://openalex.org/W3041284915","https://openalex.org/W3087081411","https://openalex.org/W3114263192","https://openalex.org/W3115291208","https://openalex.org/W3124444594","https://openalex.org/W3127073237","https://openalex.org/W3190755268","https://openalex.org/W4206508375","https://openalex.org/W4210710597","https://openalex.org/W4224223383","https://openalex.org/W4225763870","https://openalex.org/W4229076292","https://openalex.org/W4237591687","https://openalex.org/W4280590612","https://openalex.org/W4296121324","https://openalex.org/W4308739272","https://openalex.org/W4317553423","https://openalex.org/W4379116965","https://openalex.org/W4379409094","https://openalex.org/W6804409665"],"related_works":["https://openalex.org/W2921905705","https://openalex.org/W118270679","https://openalex.org/W2160996072","https://openalex.org/W2912160361","https://openalex.org/W2052286527","https://openalex.org/W1632524629","https://openalex.org/W3144229288","https://openalex.org/W4239477580","https://openalex.org/W4255265352","https://openalex.org/W2545178307"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,42,53,78,153,177],"neural":[4,110],"optimization-based":[5],"fixed-time":[6,76,79,166],"adaptive":[7,89],"control":[8,27,50,81,135,167,191],"scheme":[9,82,96,168],"for":[10],"robot":[11],"systems":[12],"with":[13],"unknown":[14,117,142],"dynamics":[15],"and":[16,26,52,74,103,137,150,169],"input":[17],"saturation.":[18],"During":[19],"the":[20,34,37,62,66,70,86,120,125,131,138,146,160,163,171,186,189],"process":[21],"of":[22,36,65,88,94,162,173,188],"information":[23],"exploration,":[24],"security":[25],"efficiency":[28],"issues":[29],"always":[30],"exist":[31],"due":[32],"to":[33,48,60,98,115,158,183],"complexity":[35],"system.":[38],"In":[39],"this":[40,95],"regard,":[41],"performance":[43,102],"index":[44],"function":[45],"is":[46,58,83,97,156],"constructed":[47],"optimize":[49],"performance,":[51,130],"nonlinear":[54],"auxiliary":[55],"compensation":[56],"system":[57,129],"developed":[59,190],"solve":[61],"saturation":[63],"effect":[64],"actuator.":[67],"By":[68],"solving":[69],"Hamilton\u2013Jacobi\u2013Bellman":[71],"(HJB)":[72],"equation":[73],"utilizing":[75],"theory,":[77,152],"optimization":[80,151],"designed":[84],"within":[85,176],"framework":[87],"dynamic":[90],"programming.":[91],"The":[92],"objective":[93],"achieve":[99],"both":[100],"optimal":[101],"rapid":[104],"convergence.":[105],"Secondly,":[106],"universal":[107],"approximators,":[108],"namely":[109],"network":[111,127,133,140],"(NNs),":[112],"are":[113,181],"employed":[114],"handle":[116],"uncertainties":[118],"through":[119],"actor-critic-identifier":[121],"structure.":[122],"Among":[123],"them,":[124],"critic":[126],"evaluates":[128],"actor":[132],"implements":[134],"actions,":[136],"identifier":[139],"estimates":[141],"dynamics.":[143],"Additionally,":[144],"under":[145],"Lyapunov":[147],"stability":[148,154],"criterion":[149],"analysis":[155],"conducted":[157],"demonstrate":[159],"feasibility":[161],"devised":[164],"neuro-optimal":[165],"guarantee":[170],"convergence":[172],"all":[174],"signals":[175],"fixed-time.":[178],"Finally,":[179],"simulations":[180],"performed":[182],"further":[184],"validate":[185],"effectiveness":[187],"method.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}