{"id":"https://openalex.org/W2758732504","doi":"https://doi.org/10.1109/mmar.2017.8046912","title":"Online tuned model predictive control for robotic systems with bounded noise","display_name":"Online tuned model predictive control for robotic systems with bounded noise","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2758732504","doi":"https://doi.org/10.1109/mmar.2017.8046912","mag":"2758732504"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2017.8046912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477603.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056894175","display_name":"Kv\u011btoslav Belda","orcid":"https://orcid.org/0000-0002-1299-7704"},"institutions":[{"id":"https://openalex.org/I4210119419","display_name":"Czech Academy of Sciences, Institute of Information Theory and Automation","ror":"https://ror.org/03h1hsz49","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210119419"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Kvetoslav Belda","raw_affiliation_strings":["Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic","institution_ids":["https://openalex.org/I4210119419"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049826442","display_name":"Lenka Pavelkov\u00e1","orcid":"https://orcid.org/0000-0001-5290-2389"},"institutions":[{"id":"https://openalex.org/I4210119419","display_name":"Czech Academy of Sciences, Institute of Information Theory and Automation","ror":"https://ror.org/03h1hsz49","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210119419"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Lenka Pavelkova","raw_affiliation_strings":["Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic","institution_ids":["https://openalex.org/I4210119419"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210119419"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"694","last_page":"699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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":1.0,"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":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983000159263611,"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":0.7130379676818848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6956626176834106},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6869642734527588},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6831744909286499},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6270967721939087},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5563430786132812},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5513986945152283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5256826877593994},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.49358808994293213},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4458398222923279},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43985897302627563},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4126286208629608},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4013676643371582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31107646226882935},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24345672130584717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23012706637382507},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15422505140304565},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12483468651771545}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7130379676818848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6956626176834106},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6869642734527588},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6831744909286499},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6270967721939087},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5563430786132812},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5513986945152283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5256826877593994},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.49358808994293213},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4458398222923279},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43985897302627563},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4126286208629608},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4013676643371582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31107646226882935},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24345672130584717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23012706637382507},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15422505140304565},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12483468651771545},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mmar.2017.8046912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:asep.lib.cas.cz:CavUnEpca/0477603","is_oa":true,"landing_page_url":"http://hdl.handle.net/11104/0274233","pdf_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477603.pdf","source":{"id":"https://openalex.org/S7407055266","display_name":"ASEP","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:asep.lib.cas.cz:CavUnEpca/0477603","is_oa":true,"landing_page_url":"http://hdl.handle.net/11104/0274233","pdf_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477603.pdf","source":{"id":"https://openalex.org/S7407055266","display_name":"ASEP","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6299999952316284,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2758732504.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W178401335","https://openalex.org/W1583526592","https://openalex.org/W1863741492","https://openalex.org/W1972612935","https://openalex.org/W1988520084","https://openalex.org/W2001898391","https://openalex.org/W2014549826","https://openalex.org/W2020516032","https://openalex.org/W2028678875","https://openalex.org/W2049289412","https://openalex.org/W2075665712","https://openalex.org/W2087393649","https://openalex.org/W2113265921","https://openalex.org/W2115562234","https://openalex.org/W2149276643","https://openalex.org/W2161508344","https://openalex.org/W2167446990","https://openalex.org/W2524271706","https://openalex.org/W2757902307","https://openalex.org/W2974222084","https://openalex.org/W4211147054"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W1862849712","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2888165911","https://openalex.org/W4396605113","https://openalex.org/W2917916498","https://openalex.org/W2151713592","https://openalex.org/W1531114845"],"abstract_inverted_index":{"This":[0],"paper":[1,50],"deals":[2],"with":[3],"a":[4,43,52,116],"discrete":[5],"predictive":[6],"control":[7,11,71,87,99],"design":[8,16,88],"for":[9,77,86],"motion":[10],"of":[12,98,119],"robotic":[13,120],"systems.":[14,121],"The":[15,104],"considers":[17],"time-varying":[18],"state-space":[19],"robot":[20,27,35,83],"model.":[21],"It":[22],"is":[23,67],"assumed":[24],"that":[25,66],"used":[26],"state":[28,57],"has":[29],"to":[30,55],"be":[31],"estimated":[32],"from":[33],"measured":[34],"outputs.":[36],"These":[37],"outputs":[38],"represent":[39],"controlled":[40],"quantities":[41],"including":[42],"bounded":[44],"noise.":[45],"Considering":[46],"this":[47],"arrangement,":[48],"the":[49,56,70,82],"introduces":[51],"novel":[53],"solution":[54],"and":[58,85],"noise":[59,91],"parameter":[60],"estimations":[61],"based":[62],"on":[63,110],"linear":[64],"programming":[65],"incorporated":[68],"in":[69,81,95],"design.":[72],"Estimated":[73,90],"states":[74],"are":[75,93,108],"utilised":[76],"updating":[78],"state-dependent":[79],"elements":[80],"model":[84],"itself.":[89],"parameters":[92],"employed":[94],"advanced":[96],"tuning":[97],"parameters,":[100],"namely":[101],"penalisation":[102],"matrices.":[103],"proposed":[105],"theoretical":[106],"outcomes":[107],"demonstrated":[109],"one":[111],"multi-input":[112],"multi-output":[113],"robot-manipulator":[114],"as":[115],"specific":[117],"representative":[118]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}