{"id":"https://openalex.org/W2887191391","doi":"https://doi.org/10.1109/tcyb.2018.2859751","title":"Recurrent Neural Network for Kinematic Control of Redundant Manipulators With Periodic Input Disturbance and Physical Constraints","display_name":"Recurrent Neural Network for Kinematic Control of Redundant Manipulators With Periodic Input Disturbance and Physical Constraints","publication_year":2018,"publication_date":"2018-08-13","ids":{"openalex":"https://openalex.org/W2887191391","doi":"https://doi.org/10.1109/tcyb.2018.2859751","mag":"2887191391","pmid":"https://pubmed.ncbi.nlm.nih.gov/30106749"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2018.2859751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2859751","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5071758245","display_name":"Yinyan Zhang","orcid":"https://orcid.org/0000-0002-0463-0291"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yinyan Zhang","raw_affiliation_strings":["Department of Computing, Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Department of Computing, Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002855381","display_name":"Seifedine Kadry","orcid":"https://orcid.org/0000-0002-1939-4842"},"institutions":[{"id":"https://openalex.org/I36314861","display_name":"Beirut Arab University","ror":"https://ror.org/02jya5567","country_code":"LB","type":"education","lineage":["https://openalex.org/I36314861"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Seifedine Kadry","raw_affiliation_strings":["Department of Mathematics and Computer Science, Beirut Arab University, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, Beirut Arab University, Beirut, Lebanon","institution_ids":["https://openalex.org/I36314861"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052115720","display_name":"Bolin Liao","orcid":"https://orcid.org/0000-0001-9036-2723"},"institutions":[{"id":"https://openalex.org/I144581915","display_name":"Jishou University","ror":"https://ror.org/056szk247","country_code":"CN","type":"education","lineage":["https://openalex.org/I144581915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bolin Liao","raw_affiliation_strings":["College of Information Science and Engineering, Jishou University, Jishou, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Jishou University, Jishou, China","institution_ids":["https://openalex.org/I144581915"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071758245"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":8.5742,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.98126958,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"49","issue":"12","first_page":"4194","last_page":"4205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9980999827384949,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8339785933494568},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7463474273681641},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7457326650619507},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6519603729248047},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6318281888961792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5712612271308899},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5638079047203064},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5185626149177551},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.4956575632095337},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4665149450302124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35693421959877014},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3462578058242798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2783489227294922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19668301939964294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18326139450073242}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8339785933494568},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7463474273681641},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7457326650619507},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6519603729248047},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6318281888961792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5712612271308899},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5638079047203064},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5185626149177551},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.4956575632095337},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4665149450302124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35693421959877014},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3462578058242798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2783489227294922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19668301939964294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18326139450073242},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2018.2859751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2859751","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:30106749","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30106749","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1977952302","display_name":null,"funder_award_id":"G.61.37.UA7L","funder_id":"https://openalex.org/F4320322598","funder_display_name":"Hong Kong Polytechnic University"},{"id":"https://openalex.org/G5589879722","display_name":null,"funder_award_id":"61563017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7441152539","display_name":null,"funder_award_id":"61401385","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"},{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1597286183","https://openalex.org/W1971893566","https://openalex.org/W1977431861","https://openalex.org/W1993989609","https://openalex.org/W2011961682","https://openalex.org/W2048433757","https://openalex.org/W2055593402","https://openalex.org/W2074833352","https://openalex.org/W2075929513","https://openalex.org/W2105087206","https://openalex.org/W2105091779","https://openalex.org/W2106784678","https://openalex.org/W2110982202","https://openalex.org/W2119514858","https://openalex.org/W2124872785","https://openalex.org/W2127832757","https://openalex.org/W2129644801","https://openalex.org/W2130317597","https://openalex.org/W2139650949","https://openalex.org/W2145211241","https://openalex.org/W2145238401","https://openalex.org/W2153202134","https://openalex.org/W2156485650","https://openalex.org/W2230652337","https://openalex.org/W2289584150","https://openalex.org/W2344053498","https://openalex.org/W2344481413","https://openalex.org/W2346663957","https://openalex.org/W2433697415","https://openalex.org/W2461045134","https://openalex.org/W2526749720","https://openalex.org/W2559957666","https://openalex.org/W2591194352","https://openalex.org/W2595448953","https://openalex.org/W2598353255","https://openalex.org/W2696256157","https://openalex.org/W2744482715","https://openalex.org/W2766113111","https://openalex.org/W2769154133","https://openalex.org/W2772102164","https://openalex.org/W2778083011","https://openalex.org/W2781841050","https://openalex.org/W2787568736","https://openalex.org/W2790630269","https://openalex.org/W2791241262","https://openalex.org/W2791498806","https://openalex.org/W2791994602","https://openalex.org/W4245550013","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W4225394202","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W1745761201"],"abstract_inverted_index":{"Input":[0],"disturbances":[1],"and":[2,35,39,55,70,84,90,103],"physical":[3],"constraints":[4],"are":[5,96],"important":[6],"issues":[7],"in":[8,77],"the":[9,28,63,67,78,85,101,106],"kinematic":[10],"control":[11],"of":[12,80,105],"redundant":[13],"manipulators.":[14],"In":[15],"this":[16],"paper,":[17],"we":[18],"propose":[19],"a":[20,41],"novel":[21],"recurrent":[22,48],"neural":[23,49,65],"network":[24,50],"to":[25,52,75,99],"simultaneously":[26],"address":[27],"periodic":[29],"input":[30,82],"disturbance,":[31],"joint":[32,36],"angle":[33],"constraint,":[34,38],"velocity":[37],"optimize":[40],"general":[42],"quadratic":[43],"performance":[44],"index.":[45],"The":[46],"proposed":[47,64,107],"applies":[51],"both":[53,81],"regulation":[54,71],"tracking":[56,69],"tasks.":[57],"Theoretical":[58],"analysis":[59],"shows":[60],"that,":[61],"with":[62,92],"network,":[66],"end-effector":[68],"errors":[72],"asymptotically":[73],"converge":[74],"zero":[76],"presence":[79],"disturbance":[83],"two":[86],"constraints.":[87],"Simulation":[88],"examples":[89],"comparisons":[91],"an":[93],"existing":[94],"controller":[95],"also":[97],"presented":[98],"validate":[100],"effectiveness":[102],"superiority":[104],"controller.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":9}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}