{"id":"https://openalex.org/W2897455552","doi":"https://doi.org/10.1109/mmar.2018.8486054","title":"Application of Iterative Learning Methods to Control of a LEGO Wheeled Mobile Robot","display_name":"Application of Iterative Learning Methods to Control of a LEGO Wheeled Mobile Robot","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2897455552","doi":"https://doi.org/10.1109/mmar.2018.8486054","mag":"2897455552"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2018.8486054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2018.8486054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-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/A5047238210","display_name":"Robert Maniarski","orcid":"https://orcid.org/0000-0003-2023-7569"},"institutions":[{"id":"https://openalex.org/I46305939","display_name":"University of Zielona G\u00f3ra","ror":"https://ror.org/04fzm7v55","country_code":"PL","type":"education","lineage":["https://openalex.org/I46305939"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Robert Maniarski","raw_affiliation_strings":["Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland","institution_ids":["https://openalex.org/I46305939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017767595","display_name":"Wojciech Paszke","orcid":"https://orcid.org/0000-0001-5060-0993"},"institutions":[{"id":"https://openalex.org/I46305939","display_name":"University of Zielona G\u00f3ra","ror":"https://ror.org/04fzm7v55","country_code":"PL","type":"education","lineage":["https://openalex.org/I46305939"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Wojciech Paszke","raw_affiliation_strings":["Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland","institution_ids":["https://openalex.org/I46305939"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046526310","display_name":"Maciej Patan","orcid":"https://orcid.org/0000-0002-2982-6741"},"institutions":[{"id":"https://openalex.org/I46305939","display_name":"University of Zielona G\u00f3ra","ror":"https://ror.org/04fzm7v55","country_code":"PL","type":"education","lineage":["https://openalex.org/I46305939"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Maciej Patan","raw_affiliation_strings":["Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control and Computation Engineering, University of Zielona, G\u00f3ra, Poland","institution_ids":["https://openalex.org/I46305939"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047238210"],"corresponding_institution_ids":["https://openalex.org/I46305939"],"apc_list":null,"apc_paid":null,"fwci":0.7357,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72845069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"126","last_page":"131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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/T13644","display_name":"Control Systems in Engineering","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9510999917984009,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.9166043996810913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6770312786102295},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6279389262199402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6001208424568176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.531814455986023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5254351496696472},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5247169733047485},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5230563282966614},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5166550278663635},{"id":"https://openalex.org/keywords/repetitive-control","display_name":"Repetitive control","score":0.5108682513237},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4772926867008209},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44172850251197815},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3738695979118347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28752216696739197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23165851831436157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2203848958015442},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0871797502040863}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.9166043996810913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6770312786102295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6279389262199402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6001208424568176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.531814455986023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5254351496696472},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5247169733047485},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5230563282966614},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5166550278663635},{"id":"https://openalex.org/C2780842517","wikidata":"https://www.wikidata.org/wiki/Q7314001","display_name":"Repetitive control","level":3,"score":0.5108682513237},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4772926867008209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44172850251197815},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3738695979118347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28752216696739197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23165851831436157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2203848958015442},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0871797502040863},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2018.8486054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2018.8486054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W130632564","https://openalex.org/W1484387568","https://openalex.org/W1509235676","https://openalex.org/W1553471381","https://openalex.org/W1964956827","https://openalex.org/W2003269587","https://openalex.org/W2041242313","https://openalex.org/W2139195244","https://openalex.org/W2141745769","https://openalex.org/W2159038290","https://openalex.org/W2173268832","https://openalex.org/W2524262327","https://openalex.org/W2765370084","https://openalex.org/W2897455552","https://openalex.org/W4244975341","https://openalex.org/W6744969620"],"related_works":["https://openalex.org/W1581010919","https://openalex.org/W1557010079","https://openalex.org/W2406853181","https://openalex.org/W2047374070","https://openalex.org/W1985604192","https://openalex.org/W2123906044","https://openalex.org/W2967742911","https://openalex.org/W2017932718","https://openalex.org/W2389833185","https://openalex.org/W4391021521"],"abstract_inverted_index":{"Iterative":[0],"Learning":[1],"Control":[2],"(ILC)":[3],"is":[4,27,32,53,59,85,122],"a":[5,46,56,62,92,112],"very":[6],"powerful":[7],"control":[8],"technique":[9],"that":[10,18,99],"iteratively":[11],"improves":[12],"the":[13,38,79,82,120],"transient":[14],"behaviour":[15],"of":[16,42,91,104,119],"systems":[17],"are":[19],"repetitive":[20],"in":[21],"nature.":[22],"In":[23],"this":[24,105],"paper":[25],"it":[26],"shown":[28],"how":[29],"ILC":[30,106],"algorithm":[31],"designed":[33],"and":[34,66,75,101,115],"implemented":[35],"to":[36,71],"improve":[37],"tracking":[39],"trajectory":[40],"performance":[41,69,103],"mobile":[43,128],"robot":[44],"with":[45],"differential":[47],"drive.":[48],"Two":[49],"step":[50],"design":[51],"procedure":[52],"proposed":[54],"where":[55],"feedback":[57],"controller":[58,65],"chosen":[60],"as":[61,78],"classical":[63],"PID":[64],"involves":[67],"some":[68],"specification":[70],"attenuate":[72],"non-repetitive":[73],"disturbances":[74],"noises.":[76],"Then,":[77],"second":[80],"step,":[81],"learning":[83,102],"filter":[84],"determined":[86],"by":[87],"an":[88],"appropriate":[89],"application":[90],"plant":[93],"inversion":[94],"method.":[95],"It":[96],"turns":[97],"out":[98],"convergence":[100],"scheme":[107,121],"can":[108],"be":[109],"obtained":[110],"for":[111],"physical":[113],"system":[114],"hence":[116],"practical":[117],"usefulness":[118],"verified":[123],"experimentally":[124],"on":[125],"Lego":[126],"EV3-based":[127],"robot.":[129]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}