{"id":"https://openalex.org/W4319990465","doi":"https://doi.org/10.1109/tase.2023.3238349","title":"A Two-Layer Trajectory Tracking Control Scheme of Manipulator Based on ELM-SMC for Autonomous Robotic Vehicle","display_name":"A Two-Layer Trajectory Tracking Control Scheme of Manipulator Based on ELM-SMC for Autonomous Robotic Vehicle","publication_year":2023,"publication_date":"2023-01-24","ids":{"openalex":"https://openalex.org/W4319990465","doi":"https://doi.org/10.1109/tase.2023.3238349"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3238349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3238349","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5100351264","display_name":"Xingyu Wang","orcid":"https://orcid.org/0000-0002-0897-9933"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-0897-9933","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740238","display_name":"Dazhi Wang","orcid":"https://orcid.org/0000-0001-8067-9313"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dazhi Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-8067-9313","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013396084","display_name":"Mingtian Du","orcid":"https://orcid.org/0000-0003-2852-7966"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mingtian Du","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Melbourne, Melbourne, VIC, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2852-7966","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Melbourne, Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114127077","display_name":"Keling Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Keling Song","raw_affiliation_strings":["China North Vehicle Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080303996","display_name":"Yongliang Ni","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongliang Ni","raw_affiliation_strings":["China North Vehicle Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100393272","display_name":"Yanming Li","orcid":"https://orcid.org/0000-0002-6971-2909"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yanming Li","raw_affiliation_strings":["China North Vehicle Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.037,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97045,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"21","issue":"3","first_page":"2337","last_page":"2348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12676","display_name":"Machine Learning and ELM","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12676","display_name":"Machine Learning and ELM","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13344","display_name":"Industrial Automation and Control Systems","score":0.9757000207901001,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/trajectory","display_name":"Trajectory","score":0.7423834204673767},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5650475025177002},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5615999102592468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5146232843399048},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.46527335047721863},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.43927139043807983},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43398264050483704},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4248027205467224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3834126591682434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3595764935016632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3092009127140045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22406521439552307},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2132289707660675}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7423834204673767},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5650475025177002},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5615999102592468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5146232843399048},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.46527335047721863},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.43927139043807983},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43398264050483704},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4248027205467224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3834126591682434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3595764935016632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3092009127140045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22406521439552307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2132289707660675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/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/tase.2023.3238349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3238349","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5992644727","display_name":null,"funder_award_id":"52077027","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W2031945217","https://openalex.org/W2072763216","https://openalex.org/W2078242231","https://openalex.org/W2130256951","https://openalex.org/W2564990207","https://openalex.org/W2743489931","https://openalex.org/W2766719860","https://openalex.org/W2777236161","https://openalex.org/W2781079832","https://openalex.org/W2921893399","https://openalex.org/W2952197682","https://openalex.org/W2958693754","https://openalex.org/W2988334419","https://openalex.org/W3042275200","https://openalex.org/W3047177214","https://openalex.org/W3048579935","https://openalex.org/W3092123241","https://openalex.org/W3107603356","https://openalex.org/W3111635904","https://openalex.org/W3128307301","https://openalex.org/W3133732815","https://openalex.org/W3140663749","https://openalex.org/W3149852514","https://openalex.org/W3179405417","https://openalex.org/W3189885773","https://openalex.org/W3194459689","https://openalex.org/W3202008617","https://openalex.org/W3210524262","https://openalex.org/W3212797097","https://openalex.org/W3213927869","https://openalex.org/W3216842947","https://openalex.org/W4206515623","https://openalex.org/W4206707323","https://openalex.org/W4210787786","https://openalex.org/W4224114546","https://openalex.org/W4224139623","https://openalex.org/W4293100081"],"related_works":["https://openalex.org/W2897743049","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4226140413","https://openalex.org/W4321511613","https://openalex.org/W3115036371","https://openalex.org/W4205653412","https://openalex.org/W2585914877","https://openalex.org/W2161688277"],"abstract_inverted_index":{"With":[0],"the":[1,28,52,55,82,87,98,101,110,123,138,150,155,159,164,167,195,218,227,231,234,237,244,249,253,258,266,275,285,297,313,321,325,333,337,344,350,357,362,366,369,373,383,404,415,419,424,434,437,441,445,448,454],"development":[2],"of":[3,42,54,69,86,103,112,125,163,170,176,181,198,212,220,226,233,236,248,268,289,301,324,336,349,365,372,386,428,436,444,447,456],"autonomous":[4,15,40,259,286,298],"driving":[5,16,41,260,287,299,314],"technology,":[6],"some":[7],"special":[8],"vehicles":[9,20,44,303],"should":[10,279],"also":[11,51,293,317,452],"be":[12,271,453],"developed":[13],"into":[14],"vehicles.":[17,38],"The":[18,39,130],"robotic":[19,29,37,43,56,255,302,421],"are":[21,410],"widely":[22,272],"used":[23,136],"in":[24,158,178,200,274,305,368,407,418],"engineering":[25,203],"operations,":[26],"and":[27,94,106,122,174,188,265,352,389,397,423,440],"manipulator":[30,57,70,88,113,177,199,228,238,250,367,450],"is":[31,114,128,135,147,184,215,241,262,400,431],"a":[32,192,391],"common":[33],"tool":[34],"mounted":[35],"on":[36,72,109,133,252],"requires":[45],"not":[46,280,308],"only":[47,281,309],"automatic":[48],"movement,":[49],"but":[50,292,316,412],"automation":[53,267],"drive":[58],"system.":[59],"Therefore,":[60,277],"this":[61,213,328,408,458],"paper":[62,214,409],"proposes":[63],"an":[64,142,378],"adaptive":[65],"trajectory":[66,111,144,171,222,345,358,364],"tracking":[67,173,223,346],"control":[68,75,152,197,224,247,334,347],"based":[71,132],"sliding":[73],"mode":[74],"(SMC),":[76],"which":[77,190],"can":[78],"more":[79],"accurately":[80],"describe":[81],"joint":[83],"space":[84],"movement":[85],"system":[89],"under":[90],"multi":[91],"task":[92],"coupling":[93],"external":[95],"interference.":[96],"Considering":[97],"multi-tasking":[99],"situation,":[100],"influence":[102],"obstacle":[104],"avoidance":[105],"base":[107],"tilt":[108],"investigated":[115],"by":[116,186,230,361],"using":[117],"extreme":[118],"learning":[119,127,430],"machine":[120,126,429],"(ELM),":[121],"framework":[124],"established.":[129],"output":[131],"ELM-SMC":[134],"as":[137,149,343],"bottom-layer":[139],"control.":[140],"Then":[141],"effective":[143],"compensation":[145,175,384,393],"method":[146,348],"proposed":[148,406],"top-level":[151],"to":[153,208,216,284,296,311,319,355,381],"avoid":[154],"error":[156,172,359],"accumulation":[157],"periodic":[160],"repeated":[161],"operation":[162,323],"manipulator.":[165,326,338],"Finally,":[166],"application":[168,416],"effect":[169],"complex":[179,202],"tasks":[180],"dynamic":[182],"environment":[183],"verified":[185,402],"simulation":[187,396],"experiments,":[189,398],"lays":[191],"foundation":[193],"for":[194,243],"stability":[196],"practical":[201],"applications.":[204],"<italic":[205],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[206],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[207],"Practitioners</i>":[209],"\u2014The":[210],"motivation":[211],"solve":[217],"problem":[219],"poor":[221],"accuracy":[225],"caused":[229,360],"change":[232],"direction":[235],"base.":[239,374],"It":[240,307],"suitable":[242],"high-precision":[245],"position":[246],"assembled":[251],"mobile":[254],"vehicle.":[256],"Nowadays,":[257],"technology":[261,300],"developing":[263],"rapidly,":[264],"traffic":[269],"will":[270],"popularized":[273],"future.":[276],"we":[278,330,340,376],"pay":[282],"attention":[283],"function":[288],"passenger":[290],"vehicles,":[291,422],"give":[294,390],"consideration":[295],"applied":[304],"engineering.":[306],"needs":[310,318],"complete":[312],"function,":[315],"ensure":[320],"reliable":[322],"In":[327],"paper,":[329],"mathematically":[331],"deduce":[332],"model":[335,425],"Then,":[339],"use":[341,353],"SMC":[342],"manipulator,":[351],"ELM":[354],"estimate":[356],"end":[363],"non-horizontal":[370],"state":[371],"Furthermore,":[375],"propose":[377],"optimization":[379],"algorithm":[380],"optimize":[382],"coefficient":[385],"cubic":[387],"spline":[388],"reasonable":[392],"scheme.":[394,459],"Through":[395],"it":[399],"preliminarily":[401],"that":[403],"schemes":[405],"feasible,":[411],"they":[413],"lack":[414],"verification":[417],"actual":[420,449],"fitting":[426],"part":[427],"completed":[432],"with":[433],"help":[435],"host":[438],"computer,":[439],"calculation":[442],"ability":[443],"controller":[446],"may":[451],"limitation":[455],"completing":[457]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
