{"id":"https://openalex.org/W4410342778","doi":"https://doi.org/10.1109/tase.2025.3569611","title":"Constrained Predictive Learning Control for Omnidirectional Wheeled Mobile Robots via Reducing Iteration Horizon","display_name":"Constrained Predictive Learning Control for Omnidirectional Wheeled Mobile Robots via Reducing Iteration Horizon","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410342778","doi":"https://doi.org/10.1109/tase.2025.3569611"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3569611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3569611","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":null,"display_name":"Wenxian Wang","orcid":"https://orcid.org/0009-0001-4558-4041"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenxian Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038940032","display_name":"Deyuan Meng","orcid":"https://orcid.org/0000-0002-0990-0166"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deyuan Meng","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.1617,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7765826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"22","issue":null,"first_page":"15513","last_page":"15525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.965499997138977,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.965499997138977,"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":0.9520000219345093,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9386000037193298,"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/mobile-robot","display_name":"Mobile robot","score":0.7375072240829468},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6423524618148804},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6385747194290161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5719034075737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670056939125061},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5187788009643555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46247398853302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4224036633968353},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41483959555625916},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4140045642852783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1998206079006195}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7375072240829468},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6423524618148804},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6385747194290161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5719034075737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670056939125061},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5187788009643555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46247398853302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4224036633968353},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41483959555625916},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4140045642852783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1998206079006195},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3569611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3569611","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/G6227733091","display_name":null,"funder_award_id":"U2333215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8727798743","display_name":null,"funder_award_id":"62273018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G897956742","display_name":null,"funder_award_id":"U2333215,62273018","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":36,"referenced_works":["https://openalex.org/W128860527","https://openalex.org/W1986365607","https://openalex.org/W1989099401","https://openalex.org/W2041242313","https://openalex.org/W2068551280","https://openalex.org/W2070553758","https://openalex.org/W2083884572","https://openalex.org/W2150922432","https://openalex.org/W2159038290","https://openalex.org/W2171505650","https://openalex.org/W2223487119","https://openalex.org/W2464813668","https://openalex.org/W2567614470","https://openalex.org/W2643936728","https://openalex.org/W2923726196","https://openalex.org/W2940265767","https://openalex.org/W2954935836","https://openalex.org/W2983865142","https://openalex.org/W3030071654","https://openalex.org/W3091357242","https://openalex.org/W3143408456","https://openalex.org/W3200157983","https://openalex.org/W4226024261","https://openalex.org/W4249623433","https://openalex.org/W4285066240","https://openalex.org/W4292219815","https://openalex.org/W4312720137","https://openalex.org/W4378085387","https://openalex.org/W4384028541","https://openalex.org/W4386553838","https://openalex.org/W4390691297","https://openalex.org/W4391582617","https://openalex.org/W4392782055","https://openalex.org/W4393140012","https://openalex.org/W4401878744","https://openalex.org/W4408280690"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W2799225442","https://openalex.org/W2895956935"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,47,104],"predictive":[4,70,127,135],"learning":[5,44,54,71,128,136],"controller":[6,72,129,137],"for":[7,130,148],"an":[8,77,95],"omnidirectional":[9],"wheeled":[10],"mobile":[11],"robot":[12],"(OWMR)":[13],"with":[14,87,144],"the":[15,22,33,38,60,68,118,122,126,141,160],"target":[16],"of":[17,21,35,65,125],"achieving":[18],"high-precision":[19],"tracking":[20],"desired":[23],"trajectory":[24],"within":[25],"repetitive":[26],"tasks.":[27],"A":[28],"prediction":[29,106],"mechanism,":[30],"based":[31,98],"on":[32,59,99,140],"concept":[34],"\u201clearning":[36],"from":[37],"future,\u201d":[39],"is":[40,50,73,109,138],"presented":[41],"to":[42,52,111,158],"accelerate":[43],"convergence.":[45],"Moreover,":[46],"constrained":[48],"mechanism":[49],"leveraged":[51],"guarantee":[53],"safety":[55],"by":[56,75],"introducing":[57],"constraints":[58],"input":[61],"difference.":[62],"The":[63],"stability":[64],"OWMR":[66],"under":[67],"proposed":[69],"realized":[74],"formulating":[76],"optimization":[78],"problem":[79],"that":[80],"incorporates":[81],"terminal":[82],"costs":[83],"and":[84,120,153,162],"constraints,":[85],"together":[86,143],"its":[88,149,165],"performance":[89],"across":[90],"iterations":[91],"being":[92],"evaluated":[93],"through":[94],"analysis":[96],"method":[97],"composite":[100],"energy":[101],"functions.":[102],"Additionally,":[103],"reducing":[105],"horizon":[107],"strategy":[108],"adopted":[110],"mitigate":[112],"computational":[113],"burden,":[114],"which":[115],"both":[116],"enhances":[117],"suitability":[119],"ensures":[121],"initial":[123],"feasibility":[124],"real-world":[131,154],"applications.":[132],"Subsequently,":[133],"our":[134],"implemented":[139],"OWMR,":[142],"several":[145],"practical":[146],"discussions":[147],"deployment.":[150],"Comparative":[151],"simulations":[152],"experiments":[155],"are":[156],"conducted":[157],"validate":[159],"practicality":[161],"effectiveness,":[163],"highlighting":[164],"advantages":[166],"over":[167],"existing":[168],"approaches.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
