{"id":"https://openalex.org/W2151055972","doi":"https://doi.org/10.1109/tac.2009.2033764","title":"Prediction Error Based Adaptive Jacobian Tracking of Robots With Uncertain Kinematics and Dynamics","display_name":"Prediction Error Based Adaptive Jacobian Tracking of Robots With Uncertain Kinematics and Dynamics","publication_year":2009,"publication_date":"2009-11-20","ids":{"openalex":"https://openalex.org/W2151055972","doi":"https://doi.org/10.1109/tac.2009.2033764","mag":"2151055972"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2009.2033764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2009.2033764","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","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":"https://openalex.org/A5007643306","display_name":"Hanlei Wang","orcid":"https://orcid.org/0000-0002-4966-3089"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hanlei Wang","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013570618","display_name":"Yongchun Xie","orcid":"https://orcid.org/0000-0003-1412-0495"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Xie","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007643306"],"corresponding_institution_ids":["https://openalex.org/I194716290"],"apc_list":null,"apc_paid":null,"fwci":3.0617,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92252456,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"54","issue":"12","first_page":"2889","last_page":"2894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"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":0.851908802986145},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8296265602111816},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6896682381629944},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6252973079681396},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5794508457183838},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47487637400627136},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45100677013397217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4504266679286957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4426727294921875},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4331650137901306},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4325111210346222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3297695517539978},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15914183855056763},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10085955262184143},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.061291277408599854}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.851908802986145},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8296265602111816},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6896682381629944},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6252973079681396},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5794508457183838},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47487637400627136},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45100677013397217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4504266679286957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4426727294921875},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4331650137901306},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4325111210346222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3297695517539978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15914183855056763},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10085955262184143},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.061291277408599854},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2009.2033764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2009.2033764","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W99253999","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1966552874","https://openalex.org/W1967755980","https://openalex.org/W1984598383","https://openalex.org/W1990777642","https://openalex.org/W1992381602","https://openalex.org/W1992604830","https://openalex.org/W2015982707","https://openalex.org/W2017382559","https://openalex.org/W2027047603","https://openalex.org/W2049296190","https://openalex.org/W2062691475","https://openalex.org/W2067393913","https://openalex.org/W2080017937","https://openalex.org/W2083483041","https://openalex.org/W2109067716","https://openalex.org/W2113260111","https://openalex.org/W2116243329","https://openalex.org/W2118587090","https://openalex.org/W2130376170","https://openalex.org/W2132294818","https://openalex.org/W2165643318","https://openalex.org/W2167055252","https://openalex.org/W2171950499","https://openalex.org/W3022034923","https://openalex.org/W4302606284"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2161688277","https://openalex.org/W1545539801","https://openalex.org/W4280596088"],"abstract_inverted_index":{"In":[0],"this":[1],"note,":[2],"we":[3,76],"have":[4,87],"proposed":[5,116],"a":[6,31],"prediction":[7,70],"error":[8,59],"based":[9],"adaptive":[10,92],"Jacobian":[11,93],"controller":[12,27,35,94],"to":[13,20,55,110],"solve":[14],"the":[15,50,79,99,102,112,115],"problem":[16],"of":[17,30,46,49,101,114],"concurrent":[18],"adaptation":[19],"both":[21],"uncertain":[22],"kinematics":[23],"and":[24,36,42,57,63],"dynamics.":[25,60],"This":[26],"is":[28],"composed":[29],"modified":[32],"computed":[33],"torque":[34],"two":[37],"cushion":[38],"floor":[39],"least-square":[40],"estimators,":[41],"in":[43],"ideal":[44],"case":[45],"perfect":[47],"knowledge":[48],"robot":[51],"parameters":[52,65],"it":[53],"leads":[54],"linear":[56],"decoupled":[58],"The":[61],"kinematic":[62],"dynamic":[64],"adaptations":[66],"are":[67,108],"driven":[68],"by":[69],"errors.":[71],"Using":[72],"input-output":[73],"stability":[74],"analysis,":[75],"show":[77,111],"that":[78,95],"end-effector":[80],"motion":[81],"tracking":[82],"errors":[83],"converge":[84],"asymptotically.":[85],"We":[86],"also":[88],"derived":[89],"an":[90],"alternative":[91],"does":[96],"not":[97],"require":[98],"invertibility":[100],"estimated":[103],"inertia":[104],"matrix.":[105],"Simulation":[106],"results":[107],"presented":[109],"performance":[113],"controllers.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}