{"id":"https://openalex.org/W3136146768","doi":"https://doi.org/10.1109/tcst.2021.3062223","title":"Iterative Learning Control for Path-Following Tasks With Performance Optimization","display_name":"Iterative Learning Control for Path-Following Tasks With Performance Optimization","publication_year":2021,"publication_date":"2021-03-10","ids":{"openalex":"https://openalex.org/W3136146768","doi":"https://doi.org/10.1109/tcst.2021.3062223","mag":"3136146768"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3062223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3062223","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5087811347","display_name":"Yiyang Chen","orcid":"https://orcid.org/0000-0001-9960-9040"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]},{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Yiyang Chen","raw_affiliation_strings":["School of Electronics and Computer Science, University of Southampton, Southampton, U.K","School of Mechanical and Electrical Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9960-9040","affiliations":[{"raw_affiliation_string":"School of Electronics and Computer Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037657172","display_name":"Bing Chu","orcid":"https://orcid.org/0000-0002-2711-8717"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bing Chu","raw_affiliation_strings":["School of Electronics and Computer Science, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2711-8717","affiliations":[{"raw_affiliation_string":"School of Electronics and Computer Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058797130","display_name":"Christopher Freeman","orcid":"https://orcid.org/0000-0003-0305-9246"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher T. Freeman","raw_affiliation_strings":["School of Electronics and Computer Science, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0305-9246","affiliations":[{"raw_affiliation_string":"School of Electronics and Computer Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9248,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93868335,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"234","last_page":"246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/iterative-learning-control","display_name":"Iterative learning control","score":0.8835266828536987},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6639266610145569},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.571890115737915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5507314801216125},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4930741488933563},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4486899971961975},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42914924025535583},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4276331663131714},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42207422852516174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4172786772251129},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4122133255004883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28738877177238464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2595531940460205},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18841424584388733}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8835266828536987},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6639266610145569},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.571890115737915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5507314801216125},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4930741488933563},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4486899971961975},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42914924025535583},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4276331663131714},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42207422852516174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4172786772251129},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4122133255004883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28738877177238464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2595531940460205},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18841424584388733},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2021.3062223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3062223","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:eprints.soton.ac.uk:448050","is_oa":false,"landing_page_url":"http://doi.org/10.1109/TCST.2021.3062223>).","pdf_url":null,"source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G5370443948","display_name":null,"funder_award_id":"IE161369","funder_id":"https://openalex.org/F4320320006","funder_display_name":"Royal Society"},{"id":"https://openalex.org/G69405590","display_name":null,"funder_award_id":"61773232","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320324720","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1522842874","https://openalex.org/W1531776622","https://openalex.org/W2001473319","https://openalex.org/W2002675616","https://openalex.org/W2009903597","https://openalex.org/W2014432297","https://openalex.org/W2017932718","https://openalex.org/W2023901033","https://openalex.org/W2026196308","https://openalex.org/W2041242313","https://openalex.org/W2062791150","https://openalex.org/W2072229645","https://openalex.org/W2072503407","https://openalex.org/W2093386980","https://openalex.org/W2099454002","https://openalex.org/W2108719916","https://openalex.org/W2132347401","https://openalex.org/W2132700533","https://openalex.org/W2136209220","https://openalex.org/W2142351125","https://openalex.org/W2148821382","https://openalex.org/W2154529221","https://openalex.org/W2159038290","https://openalex.org/W2159956441","https://openalex.org/W2209243085","https://openalex.org/W2343040550","https://openalex.org/W2512203547","https://openalex.org/W2624357209","https://openalex.org/W2748555866","https://openalex.org/W2769493071","https://openalex.org/W2805977334","https://openalex.org/W2810440679","https://openalex.org/W2921967781","https://openalex.org/W2957579396","https://openalex.org/W2963492582","https://openalex.org/W2964057747","https://openalex.org/W2991668293","https://openalex.org/W4250589301","https://openalex.org/W7066606056"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W2074966081","https://openalex.org/W2176100605","https://openalex.org/W2128997828","https://openalex.org/W2312533462"],"abstract_inverted_index":{"The":[0,27,92],"classical":[1],"problem":[2,95,121,133],"setup":[3],"of":[4,13,29,104,112],"iterative":[5],"learning":[6],"control":[7],"(ILC)":[8],"is":[9,41,96,116,127,151],"to":[10,65,129,159],"enforce":[11],"tracking":[12],"a":[14,79,136,145,154],"reference":[15],"profile":[16],"specified":[17],"at":[18,77],"all":[19],"time":[20,31],"points":[21],"in":[22,37,49,84],"the":[23,30,39,50,61,85,102,110,119,131],"fixed":[24],"task":[25,63],"duration.":[26],"removal":[28],"specification":[32],"releases":[33],"significant":[34],"design":[35,57,100,125],"freedom":[36,58],"how":[38],"path":[40,82],"followed":[42],"but":[43],"has":[44],"not":[45],"been":[46],"fully":[47],"exploited":[48],"literature.":[51],"This":[52,149],"article":[53],"unlocks":[54],"this":[55],"extra":[56],"by":[59],"formulating":[60],"ILC":[62,94,99,142],"description":[64],"handle":[66],"repeated":[67],"path-following":[68],"tasks,":[69],"e.g.,":[70],"welding":[71],"and":[72,109,134,144,164],"laser":[73],"cutting,":[74],"which":[75],"aim":[76],"following":[78],"given":[80],"\u201cspatial\u201d":[81],"defined":[83],"output":[86],"space":[87],"without":[88],"any":[89],"temporal":[90],"information.":[91],"general":[93],"reformulated":[97,120],"for":[98,118],"with":[101],"inclusion":[103],"an":[105,141],"additional":[106],"performance":[107],"index,":[108],"class":[111],"piecewise":[113],"linear":[114],"paths":[115],"characterized":[117,132],"setup.":[122],"A":[123],"two-stage":[124],"framework":[126],"proposed":[128],"solve":[130],"yields":[135],"comprehensive":[137],"algorithm":[138,150],"based":[139],"on":[140,153],"update":[143],"gradient":[146],"projection":[147],"update.":[148],"verified":[152],"gantry":[155],"robot":[156],"experimental":[157],"platform":[158],"demonstrate":[160],"its":[161],"practical":[162],"efficacy":[163],"robustness":[165],"against":[166],"model":[167],"uncertainty.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
