{"id":"https://openalex.org/W7138894914","doi":"https://doi.org/10.1109/tcst.2026.3673360","title":"An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control","display_name":"An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control","publication_year":2026,"publication_date":"2026-03-19","ids":{"openalex":"https://openalex.org/W7138894914","doi":"https://doi.org/10.1109/tcst.2026.3673360"},"language":null,"primary_location":{"id":"doi:10.1109/tcst.2026.3673360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2026.3673360","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/A5067916811","display_name":"Niklas Persson","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132621","display_name":"Future Position X","ror":"https://ror.org/03advjx75","country_code":"SE","type":"other","lineage":["https://openalex.org/I4210132621"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Niklas Persson","raw_affiliation_strings":["Division of Intelligent Future Technologies, M&#x00E4;lardalen University, V&#xE4;ster&#xE5;s, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-8650-272X","affiliations":[{"raw_affiliation_string":"Division of Intelligent Future Technologies, M&#x00E4;lardalen University, V&#xE4;ster&#xE5;s, Sweden","institution_ids":["https://openalex.org/I4210132621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026081309","display_name":"Feiran Zhao","orcid":"https://orcid.org/0000-0003-3142-2903"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feiran Zhao","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3142-2903","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129757097","display_name":"Mojtaba Kaheni","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107938","display_name":"Hitachi (Sweden)","ror":"https://ror.org/01mmh4r39","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210107938","https://openalex.org/I65143321"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP","SE"],"is_corresponding":false,"raw_author_name":"Mojtaba Kaheni","raw_affiliation_strings":["Power Consulting Group, Hitachi Energy Sweden AB, Solna, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-6309-8453","affiliations":[{"raw_affiliation_string":"Power Consulting Group, Hitachi Energy Sweden AB, Solna, Stockholm, Sweden","institution_ids":["https://openalex.org/I4210107938","https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091434894","display_name":"Florian D\u00f6rfler","orcid":"https://orcid.org/0000-0002-9649-5305"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florian D\u00f6rfler","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9649-5305","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122845140","display_name":"Alessandro V. Papadopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132621","display_name":"Future Position X","ror":"https://ror.org/03advjx75","country_code":"SE","type":"other","lineage":["https://openalex.org/I4210132621"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Alessandro V. Papadopoulos","raw_affiliation_strings":["Division of Intelligent Future Technologies, M&#x00E4;lardalen University, V&#xE4;ster&#xE5;s, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-1364-8127","affiliations":[{"raw_affiliation_string":"Division of Intelligent Future Technologies, M&#x00E4;lardalen University, V&#xE4;ster&#xE5;s, Sweden","institution_ids":["https://openalex.org/I4210132621"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":0.27217288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"4","first_page":"2122","last_page":"2129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.7633000016212463,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.7633000016212463,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.050599999725818634,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.03889999911189079,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/control-theory","display_name":"Control theory (sociology)","score":0.8136000037193298},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6692000031471252},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49230000376701355},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47839999198913574},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4487999975681305},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4345000088214874},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43059998750686646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4097999930381775},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.3779999911785126}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8136000037193298},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6692000031471252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5473999977111816},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49230000376701355},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46950000524520874},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4487999975681305},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4345000088214874},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43059998750686646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.3779999911785126},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.35670000314712524},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.35040000081062317},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.3467999994754791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33169999718666077},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.30959999561309814},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2842999994754791},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C204322392","wikidata":"https://www.wikidata.org/wiki/Q925922","display_name":"Full state feedback","level":3,"score":0.2662999927997589},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2026.3673360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2026.3673360","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"brief":[1],"presents":[2],"a":[3,9,82,104,122,156],"unified":[4],"control":[5,75],"framework":[6,118],"that":[7],"integrates":[8],"feedback":[10],"linearization":[11],"(FL)":[12],"controller":[13,25,38,65],"in":[14,26],"the":[15,27,36,43,63,108,112,116,152,166],"inner":[16],"loop":[17,29],"with":[18,121],"an":[19,32,143],"adaptive":[20,113],"data-enabled":[21],"policy":[22,76],"optimization":[23],"(DeePO)":[24],"outer":[28],"to":[30,68,125,128],"balance":[31],"autonomous":[33,145],"bicycle.":[34,146],"While":[35],"FL":[37],"stabilizes":[39],"and":[40,46,56,71,91,97,102,139,155,170],"partially":[41],"linearizes":[42],"inherently":[44],"unstable":[45],"nonlinear":[47],"system,":[48],"its":[49,149],"performance":[50],"is":[51,66,79,119,135],"compromised":[52],"by":[53],"unmodeled":[54],"dynamics":[55],"time-varying":[57,129],"characteristics.":[58],"To":[59,94],"overcome":[60],"these":[61],"limitations,":[62],"DeePO":[64,78,117],"introduced":[67],"enhance":[69],"adaptability":[70],"robustness.":[72],"The":[73,131],"initial":[74,109],"of":[77,85,115,165],"obtained":[80],"from":[81],"finite":[83],"set":[84],"offline,":[86],"persistently":[87],"exciting":[88],"(PE)":[89],"input":[90],"state":[92],"data.":[93],"improve":[95,126],"stability":[96],"compensate":[98],"for":[99],"system":[100],"nonlinearities":[101],"disturbances,":[103],"robustness-promoting":[105],"regularizer":[106],"refines":[107],"policy,":[110],"while":[111],"section":[114],"enhanced":[120],"forgetting":[123],"factor":[124],"adaptation":[127],"dynamics.":[130],"proposed":[132],"FL-DeePO":[133],"approach":[134,154],"evaluated":[136],"through":[137],"simulations":[138],"real-world":[140],"experiments":[141],"on":[142],"instrumented":[144],"Results":[147],"demonstrate":[148],"superiority":[150],"over":[151],"FL-only":[153],"reinforcement":[157],"learning":[158],"(RL)":[159],"controller,":[160],"achieving":[161],"more":[162],"precise":[163],"tracking":[164],"reference":[167],"lean":[168,171],"angle":[169],"rate.":[172]},"counts_by_year":[],"updated_date":"2026-06-27T06:13:17.587685","created_date":"2026-03-20T00:00:00"}
