{"id":"https://openalex.org/W4406415586","doi":"https://doi.org/10.1109/lra.2025.3530137","title":"Koopman-Based Robust Learning Control With Extended State Observer","display_name":"Koopman-Based Robust Learning Control With Extended State Observer","publication_year":2025,"publication_date":"2025-01-15","ids":{"openalex":"https://openalex.org/W4406415586","doi":"https://doi.org/10.1109/lra.2025.3530137"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3530137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3530137","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/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shangke Lyu","raw_affiliation_strings":["Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8302-6630","affiliations":[{"raw_affiliation_string":"Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042861313","display_name":"Xin Lang","orcid":null},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Lang","raw_affiliation_strings":["Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665183","display_name":"Donglin Wang","orcid":"https://orcid.org/0000-0003-1359-6440"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglin Wang","raw_affiliation_strings":["Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1359-6440","affiliations":[{"raw_affiliation_string":"Machine Intelligence Lab, School of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075248381"],"corresponding_institution_ids":["https://openalex.org/I3133055985"],"apc_list":null,"apc_paid":null,"fwci":4.3995,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93176045,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"3","first_page":"2303","last_page":"2310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9675999879837036,"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":0.9675999879837036,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9437999725341797,"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/T10320","display_name":"Neural Networks and Applications","score":0.928600013256073,"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/control-theory","display_name":"Control theory (sociology)","score":0.6280599236488342},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5711413621902466},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.558497965335846},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5371981263160706},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.514714777469635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49892115592956543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34615033864974976},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10480514168739319},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08254086971282959}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6280599236488342},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5711413621902466},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.558497965335846},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5371981263160706},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.514714777469635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49892115592956543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34615033864974976},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10480514168739319},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08254086971282959},{"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3530137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3530137","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3414105638","display_name":null,"funder_award_id":"62003018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5265214819","display_name":null,"funder_award_id":"62176215","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1570351331","https://openalex.org/W1591018827","https://openalex.org/W1997054581","https://openalex.org/W2014356541","https://openalex.org/W2015982707","https://openalex.org/W2073464235","https://openalex.org/W2083483041","https://openalex.org/W2099111195","https://openalex.org/W2102347640","https://openalex.org/W2107122393","https://openalex.org/W2126999002","https://openalex.org/W2135493101","https://openalex.org/W2143611759","https://openalex.org/W2153324618","https://openalex.org/W2289725842","https://openalex.org/W2566495809","https://openalex.org/W2734300891","https://openalex.org/W2777417212","https://openalex.org/W2963895143","https://openalex.org/W2986797489","https://openalex.org/W3038118776","https://openalex.org/W3110084462","https://openalex.org/W3126673178","https://openalex.org/W4300031234","https://openalex.org/W4362596641","https://openalex.org/W4362653465","https://openalex.org/W4386280002","https://openalex.org/W4399282487","https://openalex.org/W4400447134","https://openalex.org/W4402262773"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2544838361","https://openalex.org/W1997414638","https://openalex.org/W2315418312","https://openalex.org/W2481198554","https://openalex.org/W2501264310","https://openalex.org/W4388488821","https://openalex.org/W2111927334","https://openalex.org/W2113447317","https://openalex.org/W4205434950"],"abstract_inverted_index":{"A":[0],"key":[1],"challenge":[2],"in":[3,25,91,113],"data-driven":[4],"robot":[5,88],"control":[6,43,58,84,90],"is":[7,103],"enabling":[8],"robots":[9],"to":[10,46,72,85],"autonomously":[11],"gather":[12],"the":[13,92,100],"most":[14],"informative":[15],"data":[16,48,114],"during":[17,50,59],"training":[18],"while":[19,53],"maintaining":[20],"robust":[21,39,55],"performance":[22],"when":[23],"deployed":[24],"new":[26],"tasks":[27],"or":[28],"encountering":[29],"unknown":[30,95,119],"external":[31],"disturbances.":[32,96,120],"In":[33],"this":[34],"paper,":[35],"we":[36],"propose":[37],"a":[38],"active":[40,69],"learning":[41,52,70,75],"(RAL)":[42],"method":[44,102],"designed":[45],"optimize":[47],"efficiency":[49,115],"model":[51,74],"ensuring":[54],"and":[56,77,108,116],"precise":[57,87],"task":[60],"execution.":[61],"This":[62],"approach":[63],"integrates":[64],"Koopman-based":[65],"modeling":[66],"with":[67],"an":[68,78],"algorithm":[71],"enhance":[73],"efficiency,":[76],"extended":[79],"state":[80],"observer":[81],"(ESO)-assisted":[82],"tracking":[83],"ensure":[86],"position":[89],"presence":[93],"of":[94,99],"The":[97],"effectiveness":[98],"proposed":[101],"validated":[104],"through":[105],"various":[106],"simulations":[107],"experiments,":[109],"demonstrating":[110],"significant":[111],"improvements":[112],"robustness":[117],"against":[118]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
