{"id":"https://openalex.org/W4409882646","doi":"https://doi.org/10.1109/tase.2025.3564644","title":"Trajectory-Attracted Adaptive Tracking Control for Robotic Systems Based on a Hybrid Guiding Vector Field in Flexible Environments","display_name":"Trajectory-Attracted Adaptive Tracking Control for Robotic Systems Based on a Hybrid Guiding Vector Field in Flexible Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409882646","doi":"https://doi.org/10.1109/tase.2025.3564644"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3564644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3564644","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/A5100951295","display_name":"Penghui Fan","orcid":"https://orcid.org/0009-0008-1369-9144"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Penghui Fan","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081142499","display_name":"Jinzhu Peng","orcid":"https://orcid.org/0000-0002-2823-6571"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinzhu Peng","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2823-6571","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003851571","display_name":"Shuai Ding","orcid":"https://orcid.org/0000-0002-4672-8780"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Ding","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4672-8780","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006184812","display_name":"Yaqiang Liu","orcid":"https://orcid.org/0000-0003-1409-7352"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaqiang Liu","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1409-7352","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074161773","display_name":"Yaoyu Yang","orcid":"https://orcid.org/0000-0002-2328-948X"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyu Yang","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nan Zhao","orcid":"https://orcid.org/0009-0009-4675-9251"},"institutions":[{"id":"https://openalex.org/I4210103986","display_name":"Jingdong (China)","ror":"https://ror.org/01dkjkq64","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210103986"]},{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Zhao","raw_affiliation_strings":["JD Explore Academy, Beijing, China","Zhengzhou JD Cloud Computing Co., Ltd, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0009-0009-4675-9251","affiliations":[{"raw_affiliation_string":"JD Explore Academy, Beijing, China","institution_ids":["https://openalex.org/I4210103986"]},{"raw_affiliation_string":"Zhengzhou JD Cloud Computing Co., Ltd, Zhengzhou, China","institution_ids":["https://openalex.org/I4210144487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08278963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"14808","last_page":"14817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9200999736785889,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9200999736785889,"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/trajectory","display_name":"Trajectory","score":0.7363324761390686},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6038426160812378},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5689393281936646},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5171924829483032},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.48168501257896423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4748968183994293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46759551763534546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44561365246772766},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4231318533420563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4174532890319824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41412651538848877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24287736415863037},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11916336417198181},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09813755750656128}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7363324761390686},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6038426160812378},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5689393281936646},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5171924829483032},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.48168501257896423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4748968183994293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46759551763534546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44561365246772766},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4231318533420563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4174532890319824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41412651538848877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24287736415863037},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11916336417198181},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09813755750656128},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/tase.2025.3564644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3564644","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/G1690880016","display_name":null,"funder_award_id":"62203398","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4361916346","display_name":null,"funder_award_id":"62273311","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2031240436","https://openalex.org/W2180293407","https://openalex.org/W2754085660","https://openalex.org/W2891333381","https://openalex.org/W2973906761","https://openalex.org/W3014725630","https://openalex.org/W3114458140","https://openalex.org/W3159812989","https://openalex.org/W4206099840","https://openalex.org/W4210892590","https://openalex.org/W4281776977","https://openalex.org/W4285298094","https://openalex.org/W4292968898","https://openalex.org/W4296704813","https://openalex.org/W4313598692","https://openalex.org/W4315783921","https://openalex.org/W4361009041","https://openalex.org/W4367850264","https://openalex.org/W4378804823","https://openalex.org/W4381249024","https://openalex.org/W4383220175","https://openalex.org/W4384406700","https://openalex.org/W4385255383","https://openalex.org/W4385471189","https://openalex.org/W4385696179","https://openalex.org/W4387353508","https://openalex.org/W4391938805","https://openalex.org/W4392397254","https://openalex.org/W4401651599","https://openalex.org/W4402215869","https://openalex.org/W6846435682"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W1506477645"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,94,103,117],"trajectory-attracted":[4],"adaptive":[5,144],"tracking":[6,152,174],"control":[7,188],"(TAATC)":[8],"scheme":[9,135,189],"based":[10],"on":[11],"hybrid":[13],"guiding":[14],"vector":[15],"field":[16],"(HGVF)":[17],"for":[18,110],"robotic":[19,78,114,161],"systems,":[20,115],"addressing":[21],"the":[22,38,73,77,89,98,113,122,133,140,143,156,160,172,183,186,194,198,201],"high":[23],"operational":[24],"difficulty":[25],"and":[26,54,67,142,151,170,185,209],"safety":[27],"concerns":[28],"inherent":[29],"in":[30,44,112],"flexible":[31,45,128,168],"environments.":[32,129],"The":[33,69,180],"HGVF":[34,70,141,184],"is":[35,106,136,204],"constructed":[36,137],"using":[37,139,155,193],"characteristics":[39],"of":[40,76,83,97,127,182,200],"different":[41],"task":[42],"spaces":[43],"environments":[46,169],"to":[47,108],"enable":[48],"smooth":[49,165],"transitions":[50],"between":[51],"free":[52],"space":[53,56],"contact":[55,124],"with":[57,93,167],"adjustable":[58],"operating":[59],"velocity,":[60],"thereby":[61],"enhancing":[62],"robustness":[63],"against":[64],"environmental":[65],"interactions":[66],"uncertainties.":[68],"can":[71,163],"attract":[72],"state":[74],"trajectories":[75],"systems":[79,162],"by":[80,138,192],"path":[81],"convergence":[82],"an":[84],"auxiliary":[85],"dynamic":[86,123],"system,":[87],"simplifying":[88],"trajectory":[90,149,178],"planning":[91,150],"process":[92],"time-independent":[95],"representation":[96],"desired":[99,173],"path.":[100],"In":[101,130],"addition,":[102],"neural":[104,145],"network":[105],"employed":[107],"compensate":[109],"uncertainties":[111],"while":[116],"nonlinear":[118],"duffing":[119],"function":[120],"represents":[121],"force":[125,175],"model":[126],"this":[131],"way,":[132],"TAATC":[134,158],"network,":[146],"which":[147],"unifies":[148],"control.":[153],"By":[154],"proposed":[157,202],"scheme,":[159],"achieve":[164],"interaction":[166],"obtain":[171],"without":[176],"complex":[177],"planning.":[179],"stability":[181],"whole":[187],"are":[190],"analyzed":[191],"Lyapunov":[195],"theorem.":[196],"Finally,":[197],"effectiveness":[199],"method":[203],"validated":[205],"through":[206],"both":[207],"simulation":[208],"experimental":[210],"tests.":[211]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
