{"id":"https://openalex.org/W7117130220","doi":"https://doi.org/10.1109/tase.2025.3648174","title":"UDE-Based Robust Model Predictive Control With Flexible Constraints: Design and Pointing Servo Applications","display_name":"UDE-Based Robust Model Predictive Control With Flexible Constraints: Design and Pointing Servo Applications","publication_year":2025,"publication_date":"2025-12-24","ids":{"openalex":"https://openalex.org/W7117130220","doi":"https://doi.org/10.1109/tase.2025.3648174"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3648174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3648174","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/A5062680766","display_name":"Shiyao Li","orcid":"https://orcid.org/0000-0002-8053-7005"},"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":"Shiyao Li","raw_affiliation_strings":["Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121183599","display_name":"Chen Wei","orcid":null},"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":false,"raw_author_name":"Chen Wei","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009937711","display_name":"Baoqing YANG","orcid":null},"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":"Baoqing Yang","raw_affiliation_strings":["Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121232087","display_name":"Yining Zhou","orcid":null},"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":"Yining Zhou","raw_affiliation_strings":["Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101726313","display_name":"Bo Zhu","orcid":"https://orcid.org/0009-0007-6758-9509"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Zhu","raw_affiliation_strings":["School of Robotics and Automation, Nanjing University, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Automation, Nanjing University, Suzhou, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056734899","display_name":"Jie Ma","orcid":null},"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":"Jie Ma","raw_affiliation_strings":["Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Control and Simulation Center and the National Key Laboratory of Complex System Control and Intelligent Agent Cooperation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5062680766"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63565822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1979","last_page":"1993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.21490000188350677,"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":0.21490000188350677,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.18520000576972961,"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/T13257","display_name":"Advanced Control and Stabilization in Aerospace Systems","score":0.06790000200271606,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/actuator","display_name":"Actuator","score":0.7300000190734863},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6805999875068665},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6452000141143799},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5570999979972839},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.5494999885559082},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5217999815940857},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.5199999809265137},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.48570001125335693},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4781999886035919}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7300000190734863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6805999875068665},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6452000141143799},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6351000070571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800999999046326},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5570999979972839},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.5494999885559082},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5217999815940857},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5199999809265137},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.48570001125335693},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4560999870300293},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4521999955177307},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3946000039577484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38670000433921814},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.359499990940094},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.31700000166893005},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3648174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3648174","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2070353651","https://openalex.org/W2155034468","https://openalex.org/W2397654121","https://openalex.org/W2491679780","https://openalex.org/W2560782689","https://openalex.org/W2762375398","https://openalex.org/W2790962380","https://openalex.org/W2947850557","https://openalex.org/W2976418095","https://openalex.org/W2998566163","https://openalex.org/W3126163468","https://openalex.org/W3159434032","https://openalex.org/W3184443320","https://openalex.org/W3187292492","https://openalex.org/W3201701477","https://openalex.org/W4206273786","https://openalex.org/W4213218128","https://openalex.org/W4310164869","https://openalex.org/W4310804084","https://openalex.org/W4312559694","https://openalex.org/W4313146255","https://openalex.org/W4383345511","https://openalex.org/W4388923112","https://openalex.org/W4389795313","https://openalex.org/W4390187392","https://openalex.org/W4390770581","https://openalex.org/W4391341591","https://openalex.org/W4391737759","https://openalex.org/W4400944139","https://openalex.org/W4401908346","https://openalex.org/W4402517931","https://openalex.org/W4410358750"],"related_works":[],"abstract_inverted_index":{"Pointing":[0],"control":[1,26,64,108,161],"technology":[2],"is":[3,20,118,157,171],"critical":[4],"for":[5,17,137,153],"numerous":[6],"applications":[7],"such":[8,113],"as":[9,141],"space":[10],"communication":[11],"and":[12,31,71,91,96,133,166,173,180],"target":[13],"surveillance.":[14],"The":[15,75,168],"challenge":[16],"pointing":[18,154,184],"systems":[19],"to":[21,40,46,86,175],"achieve":[22],"the":[23,35,42,104,115,124,147,187],"highest":[24,188],"possible":[25],"accuracy":[27,190],"under":[28,191],"actuator":[29,116],"constraints":[30,165],"various":[32],"uncertainties,":[33],"where":[34],"typical":[36],"single-controller":[37],"structure":[38],"struggles":[39],"deliver":[41],"desired":[43],"performance":[44,162],"due":[45],"its":[47],"inherent":[48],"conflict":[49],"between":[50],"different":[51,192],"objectives.":[52],"To":[53],"address":[54],"this":[55,57,144],"limitation,":[56],"paper":[58,145],"proposes":[59],"a":[60,82,98,131,183],"robust":[61],"model":[62],"predictive":[63],"(MPC)":[65],"framework":[66,76,170],"enhanced":[67],"by":[68],"an":[69],"uncertainty":[70],"disturbance":[72,94,193],"estimator":[73],"(UDE).":[74],"incorporates":[77],"two":[78],"innovative":[79],"strategies:":[80],"1)":[81],"time-varying":[83],"UDE":[84],"(TV-UDE)":[85],"avoid":[87],"transient":[88],"peaking":[89],"phenomena":[90],"ensure":[92],"reliable":[93],"estimation,":[95],"2)":[97],"flexible":[99,121],"mechanism":[100,122],"that":[101,114],"dynamically":[102],"adjusts":[103],"range":[105,136],"of":[106,126,159],"nominal":[107],"based":[109],"on":[110,182],"UDE\u2019s":[111],"output":[112],"constraint":[117],"fulfilled.":[119],"This":[120],"avoids":[123],"usage":[125],"offline":[127],"over-tightened":[128],"constraints,":[129],"providing":[130],"safe":[132],"less-conservative":[134],"input":[135],"MPC.":[138],"As":[139],"far":[140],"we":[142],"know,":[143],"provides":[146],"<italic":[148],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">first":[150],"comprehensive":[151],"framework</i>":[152],"systems,":[155],"which":[156],"capable":[158],"maximizing":[160],"while":[163],"handling":[164],"disturbances.":[167],"proposed":[169],"validated":[172],"compared":[174],"existing":[176],"methods":[177],"through":[178],"simulations":[179],"experiments":[181],"platform,":[185],"demonstrating":[186],"servo":[189],"conditions.":[194]},"counts_by_year":[],"updated_date":"2026-01-17T23:10:49.606395","created_date":"2025-12-24T00:00:00"}