{"id":"https://openalex.org/W7128214548","doi":"https://doi.org/10.1109/tcyb.2026.3656801","title":"Robust Near-Optimal PD-Like Control Strategy via Reinforcement Learning and Integral Sliding Mode Momentum Observer for Robot Manipulators","display_name":"Robust Near-Optimal PD-Like Control Strategy via Reinforcement Learning and Integral Sliding Mode Momentum Observer for Robot Manipulators","publication_year":2026,"publication_date":"2026-02-06","ids":{"openalex":"https://openalex.org/W7128214548","doi":"https://doi.org/10.1109/tcyb.2026.3656801","pmid":"https://pubmed.ncbi.nlm.nih.gov/41650411"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2026.3656801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3656801","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/A5125328684","display_name":"Jim-Wei Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jim-Wei Wu","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-8332-768X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104250396","display_name":"You-Cheng Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"You-Cheng Yan","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112609718","display_name":"Jen-Te Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I151221077","display_name":"Chung Yuan Christian University","ror":"https://ror.org/02w8ws377","country_code":"TW","type":"education","lineage":["https://openalex.org/I151221077"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jen-te Yu","raw_affiliation_strings":["Department of Electrical Engineering, Chung Yuan Christian University, Taoyuan City, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-0664-5681","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chung Yuan Christian University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I151221077"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107207506","display_name":"Yu\u2010Cheng Lin","orcid":"https://orcid.org/0009-0006-7287-5289"},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Cheng Lin","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.17578656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"6","first_page":"3592","last_page":"3605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9763000011444092,"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":0.9763000011444092,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.007699999958276749,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.004000000189989805,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8639000058174133},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6193000078201294},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5541999936103821},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5117999911308289},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.47510001063346863},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4708999991416931},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4625999927520752},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4368000030517578},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.42969998717308044},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41609999537467957}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8639000058174133},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6193000078201294},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5541999936103821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5263000130653381},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.47510001063346863},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4708999991416931},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4625999927520752},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4368000030517578},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.42969998717308044},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41609999537467957},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4131999909877777},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.41190001368522644},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.41019999980926514},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.40149998664855957},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4000999927520752},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39169999957084656},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3813999891281128},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3522000014781952},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3046000003814697},{"id":"https://openalex.org/C47702885","wikidata":"https://www.wikidata.org/wiki/Q5441227","display_name":"Feedforward neural network","level":3,"score":0.30169999599456787},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.30000001192092896},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27459999918937683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26249998807907104},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2026.3656801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3656801","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:41650411","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41650411","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/G2713554237","display_name":null,"funder_award_id":"NSTC 114-2221-E-008-087","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"}],"funders":[{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,118,129,135,153,157],"novel":[4],"reinforcement":[5],"learning":[6],"(RL)-based":[7],"control":[8,38,49,57,89,124,162,175],"scheme":[9,67,125,176],"for":[10,44,60],"trajectory":[11,61],"tracking":[12,23,170],"of":[13,75,86,100,134,172],"robot":[14],"manipulators,":[15],"incorporating":[16],"an":[17,21,34,51,139],"uncertainty":[18,42],"estimator":[19],"and":[20,79,91,114,138,165,185,190],"optimal":[22],"controller.":[24],"A":[25,46],"momentum":[26],"observer":[27],"(MO)":[28],"is":[29,58,68,126,149],"implemented":[30],"in":[31,104],"conjunction":[32],"with":[33,128,142,152],"integral":[35],"sliding":[36,160],"mode":[37,161],"(ISMC)":[39],"to":[40,70,111],"facilitate":[41],"estimation":[43],"compensation.":[45],"proportional-derivative-like":[47],"(PD-like)":[48],"plus":[50],"actor-critic":[52],"neural":[53],"network":[54],"(NN)-based":[55],"feedforward":[56,136,158],"utilized":[59],"tracking.":[62],"An":[63],"NN":[64,140],"parameter":[65],"selection":[66],"adopted":[69],"circumvent":[71],"the":[72,84,87,101,173,178,182],"time-consuming":[73],"adjustments":[74],"its":[76,93,188],"activation":[77],"functions":[78,146],"initial":[80,88],"weights,":[81],"thereby":[82],"ensuring":[83],"admissibility":[85],"policy":[90],"improving":[92],"efficiency.":[94],"Lyapunov":[95],"function":[96],"analysis":[97],"demonstrates":[98],"stability":[99],"closed-loop":[102],"system,":[103],"which":[105],"all":[106],"error":[107],"signals":[108],"are":[109],"shown":[110],"remain":[112],"bounded":[113],"eventually":[115],"settle":[116],"into":[117],"small":[119],"residual":[120],"set.":[121],"The":[122],"proposed":[123],"compared":[127],"conventional":[130],"PD":[131],"approach":[132,155,184],"consisting":[133],"controller":[137,141],"adaptive":[143],"radial":[144],"basis":[145],"(RBFs).":[147],"Comparison":[148],"also":[150],"made":[151],"recent":[154],"featuring":[156],"super-twisting":[159],"(FSTSMC).":[163],"Simulation":[164],"experimental":[166],"results":[167],"show":[168],"superior":[169],"performance":[171],"presented":[174],"against":[177],"comparative":[179],"counterparts,":[180],"validating":[181],"new":[183],"further":[186],"supporting":[187],"effectiveness":[189],"feasibility.":[191]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-02-08T00:00:00"}