{"id":"https://openalex.org/W4399310801","doi":"https://doi.org/10.1109/tcyb.2024.3402353","title":"Differential Game-Based Control for Nonlinear Human-Robot Interaction System With Unknown Desired Trajectory","display_name":"Differential Game-Based Control for Nonlinear Human-Robot Interaction System With Unknown Desired Trajectory","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4399310801","doi":"https://doi.org/10.1109/tcyb.2024.3402353","pmid":"https://pubmed.ncbi.nlm.nih.gov/38829764"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2024.3402353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3402353","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/A5061134762","display_name":"Kang Tong","orcid":"https://orcid.org/0009-0000-7833-8405"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kang Tong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0000-7833-8405","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100404496","display_name":"Man Li","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Man Li","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-9776-1628","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053071794","display_name":"Jiahu Qin","orcid":"https://orcid.org/0000-0001-7580-0836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahu Qin","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7580-0836","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997909","display_name":"Qichao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Ma","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4861-3565","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088132173","display_name":"J.L. Zhang","orcid":"https://orcid.org/0009-0002-0724-1061"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhang","raw_affiliation_strings":["Institute of Advanced Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0002-0724-1061","affiliations":[{"raw_affiliation_string":"Institute of Advanced Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054350814","display_name":"Qingchen Liu","orcid":"https://orcid.org/0000-0002-5892-3591"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchen Liu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5892-3591","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5061134762"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":4.1484,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.94637253,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"54","issue":"11","first_page":"6832","last_page":"6842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9897000193595886,"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/trajectory","display_name":"Trajectory","score":0.8042101860046387},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6665124893188477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6256896257400513},{"id":"https://openalex.org/keywords/differential-game","display_name":"Differential game","score":0.5761442184448242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5510205030441284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164797306060791},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.489855021238327},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4581853449344635},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4433937668800354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43491289019584656},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3844169080257416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2734760642051697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21746861934661865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18930763006210327},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.12403920292854309},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07895579934120178}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8042101860046387},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6665124893188477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6256896257400513},{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.5761442184448242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5510205030441284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164797306060791},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.489855021238327},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4581853449344635},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4433937668800354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43491289019584656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3844169080257416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2734760642051697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21746861934661865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18930763006210327},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.12403920292854309},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07895579934120178},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005716","descriptor_name":"Game Theory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005716","descriptor_name":"Game Theory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005716","descriptor_name":"Game Theory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2024.3402353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3402353","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:38829764","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38829764","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/G2180299318","display_name":null,"funder_award_id":"U23A20323","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2710557896","display_name":null,"funder_award_id":"62303435","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6333605604","display_name":null,"funder_award_id":"62373341","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8597135142","display_name":null,"funder_award_id":"2308085QF203","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W378485725","https://openalex.org/W640902870","https://openalex.org/W1144035018","https://openalex.org/W2008588420","https://openalex.org/W2019338681","https://openalex.org/W2044460301","https://openalex.org/W2058507901","https://openalex.org/W2112396687","https://openalex.org/W2130470370","https://openalex.org/W2162991084","https://openalex.org/W2492629073","https://openalex.org/W2511957348","https://openalex.org/W2803623613","https://openalex.org/W3007306733","https://openalex.org/W3024986522","https://openalex.org/W3030746880","https://openalex.org/W3032057537","https://openalex.org/W3088243512","https://openalex.org/W3095223289","https://openalex.org/W3122270880","https://openalex.org/W3147173284","https://openalex.org/W3155375680","https://openalex.org/W3201009086","https://openalex.org/W4206477591","https://openalex.org/W4206540383","https://openalex.org/W4210520685","https://openalex.org/W4221098525","https://openalex.org/W4232303308","https://openalex.org/W4312327065","https://openalex.org/W4321193776","https://openalex.org/W4377971518","https://openalex.org/W4387789729","https://openalex.org/W4390480904","https://openalex.org/W6763216130","https://openalex.org/W6783151319"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W4256290860","https://openalex.org/W2030449225"],"abstract_inverted_index":{"Differential":[0],"game":[1,86],"is":[2,16,44,77,93,99,203],"an":[3],"effective":[4],"technique":[5],"to":[6,19,46,80,208],"describe":[7],"the":[8,11,21,26,35,41,48,51,55,67,74,81,89,96,102,110,114,117,123,127,136,140,148,161,167,177,194,198,209],"negotiation":[9],"between":[10],"humans":[12],"and":[13,39,50,71,134,186],"robots,":[14],"which":[15,53],"widely":[17],"used":[18],"realize":[20],"trajectory":[22,43,76,91,98,149],"tracking":[23,150,195],"tasks":[24],"in":[25,129,180],"human-robot":[27,200],"interaction":[28],"(HRI).":[29],"However,":[30],"most":[31],"existing":[32],"works":[33],"consider":[34],"control-affine":[36],"HRI":[37,69,118],"systems":[38],"assume":[40],"desired":[42,75,90,97],"available":[45,79],"both":[47],"human":[49,210],"robot,":[52],"limit":[54],"scope":[56],"of":[57,116,163,182],"applications.":[58],"To":[59,108],"overcome":[60],"these":[61],"difficulties,":[62],"this":[63],"work":[64],"focuses":[65],"on":[66],"nonaffine":[68],"system":[70],"supposes":[72],"that":[73,147,173,193],"not":[78],"robot.":[82],"A":[83],"novel":[84],"differential":[85],"framework":[87],"encoding":[88],"estimator":[92],"proposed,":[94],"where":[95],"estimated":[100],"via":[101],"Gaussian":[103],"process":[104],"regression":[105],"(GPR)":[106],"technique.":[107],"address":[109],"challenge":[111],"arising":[112],"from":[113],"nonlinearity":[115],"system,":[119],"we":[120],"equivalently":[121],"transform":[122],"original":[124],"problem":[125,142],"into":[126],"one":[128],"a":[130,153],"differentially":[131],"flat":[132],"space,":[133],"seek":[135],"equilibrium":[137],"strategies":[138],"for":[139],"transformed":[141],"substitutionally.":[143],"We":[144],"further":[145,191],"prove":[146],"error":[151,196],"satisfies":[152],"probabilistic":[154],"bound,":[155],"whose":[156],"confidence":[157],"interval":[158],"tightens":[159],"as":[160],"decrease":[162],"noise":[164],"variance":[165],"during":[166],"interaction.":[168],"Comparative":[169],"simulation":[170],"results":[171,190],"show":[172,192],"our":[174],"method":[175,179],"outperforms":[176],"learning-based":[178],"terms":[181],"robustness,":[183],"parameters":[184],"setting,":[185],"time":[187],"consumption.":[188],"Experiment":[189],"under":[197],"proposed":[199],"cooperative":[201],"algorithm":[202],"reduced":[204],"by":[205],"55%":[206],"compared":[207],"direct":[211],"control.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":12}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}