{"id":"https://openalex.org/W7125910287","doi":"https://doi.org/10.1109/smc58881.2025.11343246","title":"Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms","display_name":"Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms","publication_year":2025,"publication_date":"2025-10-05","ids":{"openalex":"https://openalex.org/W7125910287","doi":"https://doi.org/10.1109/smc58881.2025.11343246"},"language":null,"primary_location":{"id":"doi:10.1109/smc58881.2025.11343246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5116335854","display_name":"Huayue Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huayue Liang","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100706124","display_name":"Yanbo Chen","orcid":"https://orcid.org/0009-0004-1833-0654"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbo Chen","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103079368","display_name":"Hongyang Cheng","orcid":"https://orcid.org/0009-0000-4070-1184"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyang Cheng","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108992063","display_name":"Yanzhao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzhao Yu","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091521146","display_name":"Shoujie Li","orcid":"https://orcid.org/0000-0002-5178-4517"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoujie Li","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123714190","display_name":"Junbo Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Tan","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124079001","display_name":"Xueqian Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124059330","display_name":"Long Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zeng","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Department of Advanced Manufacturing,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Department of Advanced Manufacturing,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5116335854"],"corresponding_institution_ids":["https://openalex.org/I3131625388"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67096348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5742","last_page":"5749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.5565000176429749,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.5565000176429749,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.1712000072002411,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.06260000169277191,"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/tracking","display_name":"Tracking (education)","score":0.6103000044822693},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5566999912261963},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5541999936103821},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5382999777793884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4480000138282776},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4341999888420105},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.373199999332428},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.33379998803138733}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6103000044822693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.593500018119812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5566999912261963},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5541999936103821},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5382999777793884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4480000138282776},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3698999881744385},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.33379998803138733},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.32760000228881836},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C167085575","wikidata":"https://www.wikidata.org/wiki/Q6803654","display_name":"Mean squared prediction error","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27889999747276306},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc58881.2025.11343246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4813021719455719,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1486256885","https://openalex.org/W2063797945","https://openalex.org/W2101797976","https://openalex.org/W2108770432","https://openalex.org/W2769646558","https://openalex.org/W2905304031","https://openalex.org/W2952672134","https://openalex.org/W2967875632","https://openalex.org/W2967946679","https://openalex.org/W2979207987","https://openalex.org/W2981260474","https://openalex.org/W3002782398","https://openalex.org/W3006631052","https://openalex.org/W3134254523","https://openalex.org/W3174958559","https://openalex.org/W3186992617","https://openalex.org/W4285269704","https://openalex.org/W4317383765","https://openalex.org/W4383066146","https://openalex.org/W4383069115","https://openalex.org/W4383097676","https://openalex.org/W4383108357","https://openalex.org/W4383108997","https://openalex.org/W4385894374","https://openalex.org/W4405784927","https://openalex.org/W4405787763","https://openalex.org/W4413917646"],"related_works":[],"abstract_inverted_index":{"Flexible":[0],"cable-driven":[1],"robotic":[2],"arms":[3],"(FCRAs)":[4],"offer":[5],"dexterous":[6],"and":[7,20,29,67,143],"compliant":[8],"motion.":[9],"Still,":[10],"the":[11,52,85,90,94,111,153,164,174],"inherent":[12],"properties":[13],"of":[14,55,107,113,172,182],"cables,":[15],"such":[16],"as":[17],"resilience,":[18],"hysteresis,":[19],"friction,":[21],"often":[22],"lead":[23],"to":[24,50,83,99,163],"particular":[25],"difficulties":[26],"in":[27],"modeling":[28],"control.":[30],"This":[31],"paper":[32],"proposes":[33],"a":[34,47,76,129,138],"model":[35,62],"predictive":[36],"control":[37,53],"(MPC)":[38],"method":[39,124,166,176],"that":[40,87,152],"relies":[41],"exclusively":[42],"on":[43,64,115,128],"input-output":[44,65],"data,":[45],"without":[46],"physical":[48],"model,":[49],"improve":[51],"accuracy":[54,136,156],"FCRAs.":[56],"First,":[57],"we":[58],"develop":[59],"an":[60,71,105,168,178],"implicit":[61],"based":[63],"data":[66,77,86],"integrate":[68],"it":[69],"into":[70],"MPC":[72],"optimization":[73],"framework.":[74],"Second,":[75],"selection":[78],"algorithm":[79],"(DSA)":[80],"is":[81,104,118,157],"introduced":[82],"filter":[84],"best":[88],"characterize":[89],"system,":[91],"thereby":[92],"reducing":[93],"solution":[95],"time":[96],"per":[97],"step":[98],"approximately":[100,158],"4":[101],"ms,":[102],"which":[103],"improvement":[106],"nearly":[108],"80%.":[109],"Lastly,":[110],"influence":[112],"hyperparameters":[114],"tracking":[116,141,145,170,180],"error":[117,171,181],"investigated":[119],"through":[120],"simulation.":[121],"The":[122,149],"proposed":[123,175],"has":[125],"been":[126],"validated":[127],"real":[130],"FCRA":[131],"platform,":[132],"including":[133],"five-point":[134,139],"positioning":[135,155],"tests,":[137],"response":[140],"test,":[142],"trajectory":[144],"for":[146],"letter":[147],"drawing.":[148],"results":[150],"demonstrate":[151],"average":[154,169,179],"2.070":[159],"mm.":[160],"Moreover,":[161],"compared":[162],"PID":[165],"with":[167],"1.418\u00b0,":[173],"achieves":[177],"0.541\u00b0.":[183]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-29T00:00:00"}
