{"id":"https://openalex.org/W4387886147","doi":"https://doi.org/10.1109/tac.2023.3326749","title":"Composite Error Learning Robot Control Using Discontinuous Lyapunov Analysis","display_name":"Composite Error Learning Robot Control Using Discontinuous Lyapunov Analysis","publication_year":2023,"publication_date":"2023-10-23","ids":{"openalex":"https://openalex.org/W4387886147","doi":"https://doi.org/10.1109/tac.2023.3326749"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3326749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3326749","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/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081599861","display_name":"Kai Guo","orcid":"https://orcid.org/0000-0002-3451-7732"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Guo","raw_affiliation_strings":["Department of Mechanical Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067876548","display_name":"Alexey Bobtsov","orcid":"https://orcid.org/0000-0003-1854-6717"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alexey Bobtsov","raw_affiliation_strings":["Department of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia"],"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015092734"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":2.0637,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.87100105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"69","issue":"3","first_page":"1705","last_page":"1712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","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"}}],"keywords":[{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6293637752532959},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6110023260116577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5186899900436401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5111342072486877},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.4782756268978119},{"id":"https://openalex.org/keywords/lyapunov-equation","display_name":"Lyapunov equation","score":0.45704585313796997},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43273115158081055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35861319303512573},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3475356101989746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3311062455177307},{"id":"https://openalex.org/keywords/lyapunov-exponent","display_name":"Lyapunov exponent","score":0.2496846318244934},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19236326217651367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.183837890625},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08512818813323975},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07878434658050537}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6293637752532959},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6110023260116577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5186899900436401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5111342072486877},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.4782756268978119},{"id":"https://openalex.org/C25854792","wikidata":"https://www.wikidata.org/wiki/Q1028945","display_name":"Lyapunov equation","level":4,"score":0.45704585313796997},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43273115158081055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35861319303512573},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3475356101989746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3311062455177307},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.2496846318244934},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19236326217651367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.183837890625},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08512818813323975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07878434658050537},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3326749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3326749","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":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6100000143051147}],"awards":[{"id":"https://openalex.org/G3468423235","display_name":null,"funder_award_id":"2019QN01X154","funder_id":"https://openalex.org/F4320334009","funder_display_name":"Guangdong Provincial Pearl River Talents Program"},{"id":"https://openalex.org/G3939246514","display_name":null,"funder_award_id":"U20A20200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5222414796","display_name":null,"funder_award_id":"23lgzy004","funder_id":"https://openalex.org/F4320321160","funder_display_name":"Sun Yat-sen University"},{"id":"https://openalex.org/G6258236843","display_name":null,"funder_award_id":"92148204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"},{"id":"https://openalex.org/F4320334009","display_name":"Guangdong Provincial Pearl River Talents Program","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1522241257","https://openalex.org/W1965817215","https://openalex.org/W1978496066","https://openalex.org/W1981132345","https://openalex.org/W1997641854","https://openalex.org/W1998235755","https://openalex.org/W2037465299","https://openalex.org/W2038085713","https://openalex.org/W2038345712","https://openalex.org/W2043863268","https://openalex.org/W2067603665","https://openalex.org/W2070537490","https://openalex.org/W2076217314","https://openalex.org/W2083899402","https://openalex.org/W2086932416","https://openalex.org/W2095226742","https://openalex.org/W2101433417","https://openalex.org/W2101697664","https://openalex.org/W2102911553","https://openalex.org/W2109987654","https://openalex.org/W2117873623","https://openalex.org/W2121579610","https://openalex.org/W2137442635","https://openalex.org/W2148993855","https://openalex.org/W2157577511","https://openalex.org/W2164784156","https://openalex.org/W2207371011","https://openalex.org/W2344210503","https://openalex.org/W2789185723","https://openalex.org/W2906146416","https://openalex.org/W2946277373","https://openalex.org/W2974948867","https://openalex.org/W2975202873","https://openalex.org/W2978213765","https://openalex.org/W3016434138","https://openalex.org/W3102385017","https://openalex.org/W3116496379","https://openalex.org/W3202317945","https://openalex.org/W4293078920","https://openalex.org/W6631343967"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W2383986032","https://openalex.org/W2030955003","https://openalex.org/W2374426356","https://openalex.org/W2059628530","https://openalex.org/W2164487476","https://openalex.org/W3194517843","https://openalex.org/W1977987201","https://openalex.org/W2106169668","https://openalex.org/W2534107666"],"abstract_inverted_index":{"A":[0],"feedback-error":[1],"learning":[2,23,55,81,87],"(FEL)":[3],"framework,":[4],"which":[5],"is":[6,74,93,118,132],"characterized":[7],"by":[8,134],"internal":[9],"dynamics":[10],"modeling":[11],"and":[12,35,46,71,84,124,151],"hybrid":[13],"feedback\u2013feedforward":[14],"(HFF)":[15],"control,":[16,32],"provides":[17],"a":[18,52,85,135],"computational":[19],"model":[20],"for":[21,57],"motor":[22,80],"control":[24,60,67,82],"in":[25,39],"the":[26,78,97,115,149,154],"cerebellum.":[27],"For":[28],"FEL-based":[29],"adaptive":[30,58],"robot":[31,59,98,130,145],"closed-loop":[33,116],"stability":[34,113],"parameter":[36,126],"convergence":[37,127],"involve":[38],"stringent":[40],"conditions,":[41],"such":[42],"as":[43],"high-gain":[44],"feedback":[45,122],"persistent":[47],"excitation.":[48,140],"This":[49],"article":[50],"proposes":[51],"composite":[53,86],"error":[54],"framework":[56],"under":[61],"discontinuous":[62,101],"friction,":[63],"where":[64],"an":[65,143],"HFF":[66],"structure":[68],"with":[69,89,104],"forward":[70],"inverse":[72],"models":[73],"introduced":[75],"to":[76,95],"mimic":[77],"cerebellar":[79],"mechanism,":[83],"technique":[88],"memory":[90],"regressor":[91],"extension":[92],"employed":[94],"capture":[96],"dynamics.":[99],"Using":[100],"Lyapunov":[102],"analysis":[103],"Filippov's":[105],"differential":[106],"inclusion,":[107],"we":[108],"rigorously":[109],"prove":[110],"that":[111],"semiglobal":[112],"of":[114,138,153],"system":[117],"ensured":[119],"without":[120],"high":[121],"gains,":[123],"exponential":[125],"(implying":[128],"accurate":[129],"modeling)":[131],"guaranteed":[133],"weakened":[136],"condition":[137],"interval":[139],"Experiments":[141],"on":[142],"industrial":[144],"manipulator":[146],"have":[147],"demonstrated":[148],"effectiveness":[150],"superiority":[152],"proposed":[155],"method.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}