{"id":"https://openalex.org/W7104666835","doi":"https://doi.org/10.1109/lsp.2025.3631429","title":"Learning-Based Geometric Tracking Control for Rigid Body Dynamics","display_name":"Learning-Based Geometric Tracking Control for Rigid Body Dynamics","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7104666835","doi":"https://doi.org/10.1109/lsp.2025.3631429"},"language":"en","primary_location":{"id":"doi:10.1109/lsp.2025.3631429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lsp.2025.3631429","pdf_url":null,"source":{"id":"https://openalex.org/S120629676","display_name":"IEEE Signal Processing Letters","issn_l":"1070-9908","issn":["1070-9908","1558-2361"],"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 Signal Processing 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":null,"display_name":"Jiawei Tang","orcid":"https://orcid.org/0000-0002-4448-0021"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiawei Tang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Clear Water Bay, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-4448-0021","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Clear Water Bay, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shilei Li","orcid":"https://orcid.org/0000-0003-0246-1719"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shilei Li","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0246-1719","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lisheng Kuang","orcid":"https://orcid.org/0000-0002-4248-1813"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lisheng Kuang","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0002-4248-1813","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ling Shi","orcid":"https://orcid.org/0000-0002-6771-8258"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ling Shi","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Clear Water Bay, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-6771-8258","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Clear Water Bay, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44236071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":null,"first_page":"4419","last_page":"4423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.195700004696846,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.195700004696846,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.13199999928474426,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.06319999694824219,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7609999775886536},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.6129000186920166},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5471000075340271},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5175999999046326},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.49219998717308044},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4869999885559082},{"id":"https://openalex.org/keywords/geometric-modeling","display_name":"Geometric modeling","score":0.396699994802475},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.38850000500679016},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.3481999933719635}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7609999775886536},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.6129000186920166},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5471000075340271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5333999991416931},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5175999999046326},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.49219998717308044},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4869999885559082},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42969998717308044},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.396699994802475},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3547999858856201},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C180671464","wikidata":"https://www.wikidata.org/wiki/Q1186649","display_name":"Geometric algebra","level":4,"score":0.33869999647140503},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3343999981880188},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.31540000438690186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.3084000051021576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30480000376701355},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3005000054836273},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27730000019073486},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C39947850","wikidata":"https://www.wikidata.org/wiki/Q729523","display_name":"Geometric distribution","level":3,"score":0.27630001306533813},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26840001344680786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lsp.2025.3631429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lsp.2025.3631429","pdf_url":null,"source":{"id":"https://openalex.org/S120629676","display_name":"IEEE Signal Processing Letters","issn_l":"1070-9908","issn":["1070-9908","1558-2361"],"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 Signal Processing Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-167150","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-167150","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G846458748","display_name":null,"funder_award_id":"62403053","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"learning-based":[3,31,61],"geometric":[4,22,66],"tracking":[5,32,41,71],"control":[6,24],"for":[7],"rigid":[8],"body":[9],"dynamics":[10,42],"without":[11],"precise":[12],"system":[13],"model":[14],"parameters.":[15],"Our":[16],"approach":[17,64],"leverages":[18],"recent":[19],"advancements":[20],"in":[21],"optimal":[23],"and":[25,55,68],"data-driven":[26],"techniques":[27],"to":[28,39,59],"develop":[29],"a":[30,44],"solution.":[33],"By":[34],"adopting":[35],"Lie":[36],"algebra":[37],"formulation":[38],"transform":[40],"into":[43],"vector":[45],"space,":[46],"we":[47],"estimate":[48],"unknown":[49],"parameters":[50],"from":[51],"data,":[52],"achieving":[53],"robust":[54],"efficient":[56],"learning.":[57],"Compared":[58],"existing":[60],"methods,":[62],"our":[63,80],"ensures":[65],"consistency":[67],"delivers":[69],"superior":[70],"accuracy.":[72],"The":[73],"simulation":[74],"results":[75],"validate":[76],"the":[77],"effectiveness":[78],"of":[79],"method.":[81]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-11-11T00:00:00"}
