{"id":"https://openalex.org/W4408200919","doi":"https://doi.org/10.1109/robio64047.2024.10907747","title":"Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators","display_name":"Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408200919","doi":"https://doi.org/10.1109/robio64047.2024.10907747"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5115596712","display_name":"Zhaoyang Chen","orcid":"https://orcid.org/0000-0001-8553-5175"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhaoyang Chen","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059013469","display_name":"Kang Min","orcid":"https://orcid.org/0000-0002-6537-8720"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Min","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032709433","display_name":"Hongyuan Liu","orcid":"https://orcid.org/0000-0002-5437-4695"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5115596712"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35830568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1042","last_page":"1047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10876","display_name":"Fault Detection and Control Systems","score":0.993399977684021,"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":0.9855999946594238,"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/model-predictive-control","display_name":"Model predictive control","score":0.6864172220230103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383994817733765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5115543007850647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5045934915542603},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5015408992767334},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4847416579723358},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4719513952732086},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.45159029960632324},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3724958598613739},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33649158477783203},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32214581966400146},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2081039547920227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16791903972625732}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6864172220230103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383994817733765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5115543007850647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5045934915542603},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5015408992767334},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4847416579723358},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4719513952732086},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.45159029960632324},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3724958598613739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33649158477783203},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32214581966400146},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2081039547920227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16791903972625732},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1980795221","https://openalex.org/W2013573169","https://openalex.org/W2551602097","https://openalex.org/W2744482715","https://openalex.org/W2797679738","https://openalex.org/W2915278269","https://openalex.org/W2951294143","https://openalex.org/W2952499326","https://openalex.org/W2984769036","https://openalex.org/W3003705398","https://openalex.org/W3006435072","https://openalex.org/W3008209470","https://openalex.org/W3014803699","https://openalex.org/W3122831466","https://openalex.org/W3135101032","https://openalex.org/W3158933432","https://openalex.org/W3198074902","https://openalex.org/W3215934946","https://openalex.org/W4226343275","https://openalex.org/W4301832133"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W1583418636","https://openalex.org/W2102992329","https://openalex.org/W2678486179","https://openalex.org/W1925083093","https://openalex.org/W2549036505","https://openalex.org/W1979214824","https://openalex.org/W2685330831","https://openalex.org/W324942907","https://openalex.org/W2142692775"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,20,59,86,98],"data-driven":[6,61],"robust":[7],"model":[8],"predictive":[9],"control":[10],"(DD-RMPC)":[11],"method":[12],"for":[13,75],"pose":[14,106],"tracking":[15,23,57,107],"of":[16,78,89,111],"redundant":[17,92],"manipulators.":[18],"Firstly,":[19],"MPC-based":[21],"trajectory":[22],"framework":[24],"is":[25,63],"established,":[26],"in":[27,65],"which":[28,66],"the":[29,46,51,67,76,79,82,112],"joint":[30],"limits":[31],"at":[32],"three":[33],"different":[34],"levels":[35],"(angle,":[36],"velocity,":[37],"and":[38,55,103],"acceleration)":[39],"are":[40,71],"satisfied.":[41],"Secondly,":[42],"to":[43,73],"deal":[44],"with":[45],"system":[47],"model's":[48],"uncertainty,":[49],"accelerate":[50],"error":[52,100],"convergence":[53,101],"speed,":[54],"reduce":[56],"errors,":[58],"novel":[60],"RMPC":[62],"proposed,":[64],"system's":[68],"input-output":[69],"data":[70],"used":[72],"compensate":[74],"conservatism":[77],"system.":[80],"Finally,":[81],"simulation":[83],"results":[84],"on":[85],"seven":[87],"degrees":[88],"freedoms":[90],"(DOFs)":[91],"manipulator":[93],"show":[94],"that":[95,110],"DD-RMPC":[96],"provides":[97],"faster":[99],"rate":[102],"achieves":[104],"smaller":[105],"errors":[108],"than":[109],"comparison":[113],"methods.":[114]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
