{"id":"https://openalex.org/W4308630348","doi":"https://doi.org/10.1109/lra.2022.3212669","title":"Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators","display_name":"Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators","publication_year":2022,"publication_date":"2022-10-01","ids":{"openalex":"https://openalex.org/W4308630348","doi":"https://doi.org/10.1109/lra.2022.3212669"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3212669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3212669","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5019546381","display_name":"Xuwei Wu","orcid":"https://orcid.org/0000-0003-2616-9149"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xuwei Wu","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004444989","display_name":"Annika Kirner","orcid":"https://orcid.org/0000-0003-1196-1301"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Annika Kirner","raw_affiliation_strings":["Automation and Control Institute, TU Wien, Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026735777","display_name":"Gianluca Garofalo","orcid":"https://orcid.org/0000-0002-7481-3464"},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Gianluca Garofalo","raw_affiliation_strings":["ABB Corporate Research, Vasteras, Sweden"],"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Vasteras, Sweden","institution_ids":["https://openalex.org/I4210086503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Automation and Control Institute, TU Wien, Vienna, Austria","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024022683","display_name":"Paul Kotyczka","orcid":"https://orcid.org/0000-0002-6669-6368"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paul Kotyczka","raw_affiliation_strings":["Chair of Automatic Control, Technical University of Munich (TUM), Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Technical University of Munich (TUM), Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5019546381"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.6066,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66515131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":"4","first_page":"12307","last_page":"12314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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/T11236","display_name":"Control Systems and Identification","score":0.9980000257492065,"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":0.806760311126709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6369273662567139},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5917248129844666},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5663694143295288},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5500072240829468},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5210646986961365},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5180087685585022},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.489705353975296},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.48779135942459106},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48230695724487305},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4528156816959381},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4500201940536499},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44641247391700745},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44618529081344604},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.43740901350975037},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4280015528202057},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4198512136936188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2848607301712036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2220727801322937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16838350892066956},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10977807641029358},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.0733480155467987}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.806760311126709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6369273662567139},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5917248129844666},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5663694143295288},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5500072240829468},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5210646986961365},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5180087685585022},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.489705353975296},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.48779135942459106},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48230695724487305},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4528156816959381},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4500201940536499},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44641247391700745},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44618529081344604},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.43740901350975037},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4280015528202057},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4198512136936188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2848607301712036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2220727801322937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16838350892066956},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10977807641029358},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0733480155467987},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3212669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3212669","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:188701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2022.3212669>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1691356","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9913624/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1582353822","https://openalex.org/W1971908862","https://openalex.org/W1981174120","https://openalex.org/W2017382559","https://openalex.org/W2058890241","https://openalex.org/W2083483041","https://openalex.org/W2090167557","https://openalex.org/W2098989671","https://openalex.org/W2102964228","https://openalex.org/W2118587090","https://openalex.org/W2166184362","https://openalex.org/W2304221673","https://openalex.org/W2470482648","https://openalex.org/W2808816909","https://openalex.org/W2884486007","https://openalex.org/W2909615006","https://openalex.org/W2943235222","https://openalex.org/W2953046228","https://openalex.org/W2963468788","https://openalex.org/W2991963964","https://openalex.org/W2995266748","https://openalex.org/W3004587862","https://openalex.org/W3046124883","https://openalex.org/W3104994358","https://openalex.org/W3173939621","https://openalex.org/W3179405417","https://openalex.org/W4237533061"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W2007221537","https://openalex.org/W785766289","https://openalex.org/W1999058329","https://openalex.org/W2156289265","https://openalex.org/W2185997459","https://openalex.org/W2011222276","https://openalex.org/W4280596088"],"abstract_inverted_index":{"Adaptive":[0],"control":[1,92],"can":[2],"significantly":[3],"improve":[4],"tracking":[5],"performance":[6,79],"of":[7,37,60,72,85],"robot":[8],"manipulators":[9],"subject":[10],"to":[11,56],"modeling":[12,68],"errors":[13,69],"in":[14],"dynamics.":[15],"In":[16],"this":[17],"letter,":[18],"we":[19],"propose":[20],"a":[21,30,104],"new":[22],"framework":[23],"combining":[24],"the":[25,38,53,58,86],"composite":[26],"adaptive":[27,39],"controller":[28,44],"using":[29],"natural":[31],"adaptation":[32],"law":[33],"and":[34,97],"an":[35,73],"extension":[36],"variance":[40],"algorithm":[41],"(AVA)":[42],"for":[43],"blending.":[45],"The":[46,91],"proposed":[47],"approach":[48],"not":[49],"only":[50],"automatically":[51],"adjusts":[52],"feedback":[54],"action":[55],"reduce":[57],"risk":[59],"violating":[61],"actuator":[62],"constraints":[63],"but":[64],"also":[65],"anticipates":[66],"substantial":[67],"by":[70],"means":[71],"uncertainty":[74],"measure,":[75],"thus":[76],"preventing":[77],"severe":[78],"deterioration.":[80],"A":[81],"formal":[82],"stability":[83],"analysis":[84],"closed-loop":[87],"system":[88],"is":[89,94],"conducted.":[90],"scheme":[93],"experimentally":[95],"validated":[96],"directly":[98],"compared":[99],"with":[100],"baseline":[101],"methods":[102],"on":[103],"torque-controlled":[105],"KUKA":[106],"LWR":[107],"IV+.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
