{"id":"https://openalex.org/W4403320310","doi":"https://doi.org/10.1109/tase.2024.3470799","title":"A Novel Contouring Control Method Based on Optimal Vector-Referenced Moving Frame for 3D Trajectory With Zero Curvature","display_name":"A Novel Contouring Control Method Based on Optimal Vector-Referenced Moving Frame for 3D Trajectory With Zero Curvature","publication_year":2024,"publication_date":"2024-10-11","ids":{"openalex":"https://openalex.org/W4403320310","doi":"https://doi.org/10.1109/tase.2024.3470799"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3470799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3470799","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/A5082817966","display_name":"Qianjun Zhang","orcid":"https://orcid.org/0000-0002-9862-5695"},"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":"Qianjun Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084534686","display_name":"Yongzhuo Gao","orcid":"https://orcid.org/0000-0002-1267-4550"},"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":"Yongzhuo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085528639","display_name":"Siyuan Meng","orcid":"https://orcid.org/0000-0001-5607-8905"},"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":"Siyuan Meng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060943760","display_name":"Hui Dong","orcid":"https://orcid.org/0000-0002-8562-6787"},"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":"Hui Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109226106","display_name":"Changhai Ru","orcid":null},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhai Ru","raw_affiliation_strings":["School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068198508","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0003-2640-1585"},"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":"Wei Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5082817966"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":4.3955,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.95743789,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"7798","last_page":"7809"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9656000137329102,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/contouring","display_name":"Contouring","score":0.8405406475067139},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7018336057662964},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5844629406929016},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5506182312965393},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.5430635213851929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46997660398483276},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43097811937332153},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.427909791469574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3727542459964752},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37181150913238525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2845412790775299},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20253992080688477},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1910371482372284},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.17452538013458252}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.8405406475067139},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7018336057662964},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5844629406929016},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5506182312965393},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.5430635213851929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46997660398483276},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43097811937332153},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.427909791469574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3727542459964752},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37181150913238525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2845412790775299},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20253992080688477},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1910371482372284},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.17452538013458252},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3470799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3470799","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/G3233799187","display_name":null,"funder_award_id":"62273247","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6317206018","display_name":null,"funder_award_id":"U21A20120","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":46,"referenced_works":["https://openalex.org/W1203417641","https://openalex.org/W1564897360","https://openalex.org/W1578293866","https://openalex.org/W1989825315","https://openalex.org/W2010160518","https://openalex.org/W2022688368","https://openalex.org/W2026124552","https://openalex.org/W2031250215","https://openalex.org/W2043234210","https://openalex.org/W2053950068","https://openalex.org/W2080026597","https://openalex.org/W2091565796","https://openalex.org/W2091599728","https://openalex.org/W2104694979","https://openalex.org/W2121151459","https://openalex.org/W2134581372","https://openalex.org/W2150526134","https://openalex.org/W2158055488","https://openalex.org/W2161227715","https://openalex.org/W2415954549","https://openalex.org/W2576149110","https://openalex.org/W2772988575","https://openalex.org/W2796515350","https://openalex.org/W2954115742","https://openalex.org/W2961805815","https://openalex.org/W2963085761","https://openalex.org/W2990654717","https://openalex.org/W3005747192","https://openalex.org/W3146841301","https://openalex.org/W3182990656","https://openalex.org/W3198784171","https://openalex.org/W4210596811","https://openalex.org/W4241309031","https://openalex.org/W4245647181","https://openalex.org/W4247379505","https://openalex.org/W4285163488","https://openalex.org/W4285285483","https://openalex.org/W4292510839","https://openalex.org/W4312258136","https://openalex.org/W4388009980","https://openalex.org/W4390628613","https://openalex.org/W4391765460","https://openalex.org/W4395028872","https://openalex.org/W6600413971","https://openalex.org/W7006191206","https://openalex.org/W7071654617"],"related_works":["https://openalex.org/W2028761375","https://openalex.org/W2915337797","https://openalex.org/W2360204191","https://openalex.org/W2968335000","https://openalex.org/W2044363672","https://openalex.org/W2073091389","https://openalex.org/W2045558343","https://openalex.org/W4315646535","https://openalex.org/W1968493577","https://openalex.org/W2547450044"],"abstract_inverted_index":{"Contouring":[0],"control":[1,61,209],"of":[2,62,74,82,100,106,207,210,312,318,351,375,389],"3D":[3,33,63,79,211,219,236,266,301,369,377],"trajectory":[4,80,212,237,302,390],"is":[5,201,258,277,329,345],"critical":[6],"in":[7,42,213,241,271,315],"multi-axial":[8,43],"machine":[9],"tool,":[10],"scanning":[11],"stage":[12],"and":[13,104,139,227,280,304,354,397],"other":[14],"precision":[15,154,214,387],"automation":[16,215],"systems.":[17,45,216],"Currently,":[18],"most":[19],"contouring":[20,55,60,89,208,220,230,342,378],"controllers":[21],"are":[22,232,246],"based":[23,54,92,247,338],"on":[24,93,123,155,172,248,339],"Frenet":[25,249],"frames,":[26],"thus":[27,320],"their":[28],"limited":[29],"applicability":[30],"to":[31,114,145,164,191,198,253],"nonzero-curvature":[32],"trajectories":[34,156,173,181],"rather":[35],"than":[36],"zero-curvature":[37,64,176,235,265],"ones":[38],"which":[39,238,251,347,371,392],"exist":[40],"ubiquitously":[41,239],"motion":[44,242],"This":[46],"paper":[47],"proposes":[48],"an":[49,115,290],"optimal":[50,68,291],"vector-referenced":[51,69],"moving":[52,70,294],"frame":[53,71,225,250,295],"controller":[56,90,111,117,262,343,396],"(OVRMFCC)":[57,91,344],"suitable":[58],"for":[59,234,297],"trajectories.":[65],"Firstly,":[66],"the":[67,152,204,327,349,373],"(OVRMF)":[72,296],"capable":[73],"framing":[75,303],"arbitrary":[76,298],"finite-length":[77],"smooth":[78,300],"regardless":[81,388],"its":[83,101,107,306,316,321],"curvature":[84,159,161,184,257],"was":[85,95,112],"proposed.":[86],"Then,":[87],"a":[88,124,341],"OVRMF":[94,313,340],"designed,":[96],"followed":[97],"by":[98,203],"derivation":[99],"analytical":[102],"form":[103],"proof":[105],"convergence.":[108],"Finally,":[109],"this":[110,286],"deployed":[113],"FPGA-based":[116],"target":[118],"with":[119,157,174,182],"comprehensive":[120],"comparison":[121],"experiments":[122],"triaxial":[125],"system.":[126],"Experimental":[127,380],"results":[128,381],"indicates":[129],"that":[130,383],"OVRMFCC":[131,149,358,384],"reduces":[132],"at":[133],"least":[134],"46.6%":[135],"maximum":[136],"contour":[137,142,170,195,273],"error,":[138],"25.0%":[140],"root-mean-square":[141],"error":[143,274],"compared":[144,163],"cross-coupled":[146,261,395],"controller.":[147,379],"Besides,":[148],"achieves":[150],"almost":[151],"same":[153],"nonzero":[158],"or":[160,178,189],"singularities":[162],"TCF.":[165,398],"It":[166],"still":[167],"maintains":[168,385],"high-precision":[169],"tracking":[171],"continuous":[175],"segments":[177],"planned":[179],"discrete":[180],"sharp":[183],"changes,":[185],"while":[186],"TCF":[187,353],"crashes":[188],"leads":[190],"several":[192],"times":[193],"larger":[194],"error.":[196],"Note":[197],"Practitioners\u2014This":[199],"work":[200],"motivated":[202],"increasing":[205],"need":[206],"The":[217,309],"mainstream":[218],"controllers,":[221],"like":[222],"task":[223],"coordinated":[224],"method":[226],"model":[228],"predicted":[229],"controller,":[231],"invalid":[233],"exists":[240],"system":[243],"since":[244],"they":[245],"fails":[252],"be":[254],"defined":[255],"where":[256],"zero.":[259],"Although":[260],"can":[263,359],"tackle":[264],"trajectory,":[267,370],"it":[268,276],"proves":[269,305],"inefficient":[270],"reducing":[272],"as":[275,324,326],"commonly":[278],"model-free":[279],"not":[281],"specifically":[282],"designed.":[283],"To":[284],"solve":[285],"problem,":[287],"we":[288],"proposed":[289],"vector":[292],"referenced":[293],"infinite-length":[299,362],"existence":[307,322],"strictly.":[308],"main":[310],"advantage":[311],"lies":[314],"independence":[317],"curvature,":[319,391],"everywhere":[323],"long":[325],"curve":[328],"<inline-formula":[330,363],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[331,364],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[332,365],"<tex-math":[333,366],"notation=\"LaTeX\">$C^{1}$":[334],"</tex-math></inline-formula>":[335],"continuous.":[336],"And":[337],"designed":[346],"combines":[348],"benefit":[350],"both":[352,394],"OVRMF.":[355],"With":[356],"this,":[357],"track":[360],"any":[361],"notation=\"LaTeX\">$C^{3}$":[367],"</tex-math></inline-formula>-continuous":[368],"fill":[372],"gap":[374],"traditional":[376],"reveal":[382],"high":[386],"outperforms":[393]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}