{"id":"https://openalex.org/W2945928974","doi":"https://doi.org/10.1109/tie.2019.2916390","title":"A Symplectic Instantaneous Optimal Control for Robot Trajectory Tracking With Differential-Algebraic Equation Models","display_name":"A Symplectic Instantaneous Optimal Control for Robot Trajectory Tracking With Differential-Algebraic Equation Models","publication_year":2019,"publication_date":"2019-05-17","ids":{"openalex":"https://openalex.org/W2945928974","doi":"https://doi.org/10.1109/tie.2019.2916390","mag":"2945928974"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2916390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2916390","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://researchportal.port.ac.uk/ws/files/14002382/Postprint_4_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022022325","display_name":"Haijun Peng","orcid":"https://orcid.org/0000-0001-9365-3569"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haijun Peng","raw_affiliation_strings":["Department of Engineering Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100325899","display_name":"Fei Li","orcid":"https://orcid.org/0000-0003-3803-6538"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Li","raw_affiliation_strings":["Department of Engineering Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060877237","display_name":"Jinguo Liu","orcid":"https://orcid.org/0000-0002-6790-6582"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinguo Liu","raw_affiliation_strings":["Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056287221","display_name":"Zhaojie Ju","orcid":"https://orcid.org/0000-0002-9524-7609"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zhaojie Ju","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","School of Computing, University of Portsmouth, Portsmouth, U.K"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Computing, University of Portsmouth, Portsmouth, U.K","institution_ids":["https://openalex.org/I63072094"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022022325"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":25.3094,"has_fulltext":true,"cited_by_count":127,"citation_normalized_percentile":{"value":0.99862006,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"67","issue":"5","first_page":"3819","last_page":"3829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.991599977016449,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9883000254631042,"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/control-theory","display_name":"Control theory (sociology)","score":0.6652601957321167},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5761826634407043},{"id":"https://openalex.org/keywords/symplectic-geometry","display_name":"Symplectic geometry","score":0.5375928282737732},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5294995307922363},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5100920796394348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5083910822868347},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.48773273825645447},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.485200434923172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37437158823013306},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36619898676872253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12292554974555969},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10130524635314941},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08671566843986511}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6652601957321167},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5761826634407043},{"id":"https://openalex.org/C168619227","wikidata":"https://www.wikidata.org/wiki/Q2190991","display_name":"Symplectic geometry","level":2,"score":0.5375928282737732},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5294995307922363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5100920796394348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5083910822868347},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.48773273825645447},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.485200434923172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37437158823013306},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36619898676872253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12292554974555969},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10130524635314941},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08671566843986511},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2019.2916390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2916390","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:researchportal.port.ac.uk:publications/42e4cf1e-9c31-4255-b8f7-990dab4ace6f","is_oa":true,"landing_page_url":"https://researchportal.port.ac.uk/portal/en/publications/a-symplectic-instantaneous-optimal-control-for-robot-trajectory-tracking-with-differentialalgebraic-equation-models(42e4cf1e-9c31-4255-b8f7-990dab4ace6f).html","pdf_url":"https://researchportal.port.ac.uk/ws/files/14002382/Postprint_4_.pdf","source":{"id":"https://openalex.org/S4306401774","display_name":"Portsmouth Research Portal (University of Portsmouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63072094","host_organization_name":"University of Portsmouth","host_organization_lineage":["https://openalex.org/I63072094"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:researchportal.port.ac.uk:publications/42e4cf1e-9c31-4255-b8f7-990dab4ace6f","is_oa":true,"landing_page_url":"https://researchportal.port.ac.uk/portal/en/publications/a-symplectic-instantaneous-optimal-control-for-robot-trajectory-tracking-with-differentialalgebraic-equation-models(42e4cf1e-9c31-4255-b8f7-990dab4ace6f).html","pdf_url":"https://researchportal.port.ac.uk/ws/files/14002382/Postprint_4_.pdf","source":{"id":"https://openalex.org/S4306401774","display_name":"Portsmouth Research Portal (University of Portsmouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63072094","host_organization_name":"University of Portsmouth","host_organization_lineage":["https://openalex.org/I63072094"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1850909809","display_name":null,"funder_award_id":"11772074","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2687747823","display_name":null,"funder_award_id":"91748203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3085993365","display_name":null,"funder_award_id":"(Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5077249238","display_name":null,"funder_award_id":"JCTD-2018-11","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6221177491","display_name":null,"funder_award_id":"2018YFB1304600","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G625951957","display_name":null,"funder_award_id":"2018YFB1304600","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"},{"id":"https://openalex.org/G7726157001","display_name":null,"funder_award_id":"Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8632022281","display_name":null,"funder_award_id":"51775541","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8637691406","display_name":null,"funder_award_id":"11761131005","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/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2945928974.pdf","grobid_xml":"https://content.openalex.org/works/W2945928974.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W587555435","https://openalex.org/W1518039036","https://openalex.org/W1838522103","https://openalex.org/W1969796965","https://openalex.org/W1986024064","https://openalex.org/W1993941487","https://openalex.org/W1996208964","https://openalex.org/W1997251742","https://openalex.org/W2017210692","https://openalex.org/W2017803806","https://openalex.org/W2019998552","https://openalex.org/W2027103060","https://openalex.org/W2034588608","https://openalex.org/W2049772050","https://openalex.org/W2051269616","https://openalex.org/W2065441240","https://openalex.org/W2074722659","https://openalex.org/W2081468032","https://openalex.org/W2089297194","https://openalex.org/W2099269638","https://openalex.org/W2099579168","https://openalex.org/W2123340055","https://openalex.org/W2126311295","https://openalex.org/W2126479355","https://openalex.org/W2153401004","https://openalex.org/W2158121031","https://openalex.org/W2170039048","https://openalex.org/W2253274025","https://openalex.org/W2343693428","https://openalex.org/W2528130391","https://openalex.org/W2766492415","https://openalex.org/W2789409369","https://openalex.org/W2914714640","https://openalex.org/W4214727197"],"related_works":["https://openalex.org/W2904060783","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2886240924"],"abstract_inverted_index":{"Robot":[0],"trajectory":[1,43,78,130],"tracking":[2,44,79,131,172],"control":[3,38,109,132,173],"based":[4,48],"on":[5,49,55],"differential-algebraic":[6],"equation":[7],"(DAE)":[8],"models":[9],"is":[10,52,72,81],"still":[11],"a":[12,34,64,84,124],"thorny":[13],"issue,":[14],"because":[15],"the":[16,28,56,61,69,76,94,104,108,116,129,148,151,154,158,165],"DAEs":[17,51,71],"of":[18,86,134,153],"such":[19,26],"systems":[20],"are":[21,144,162],"inherently":[22],"complex":[23],"and":[24,60,93,141,150,169],"unstable,":[25],"as":[27],"high-index":[29],"problem.":[30],"In":[31],"this":[32],"paper,":[33],"symplectic":[35,65],"instantaneous":[36],"optimal":[37],"(IOC)":[39],"method":[40,122],"for":[41,68,83,102,127],"robot":[42,135],"with":[45],"input":[46,159],"saturation":[47,160],"controlled":[50,70],"proposed.":[53],"Based":[54],"discrete":[57,166],"variational":[58],"principle":[59],"canonical":[62],"transformation,":[63],"discretization":[66],"form":[67],"first":[73],"constructed.":[74],"Then,":[75],"continuous":[77],"problem":[80,97],"approximated":[82],"series":[85],"IOC":[87,105],"problems":[88,133],"at":[89,164,178],"every":[90],"time":[91,167],"step,":[92],"linear":[95],"complementarity":[96],"(LCP)":[98],"can":[99,111,175],"be":[100,112,176],"derived":[101],"solving":[103,115,128],"problems.":[106],"Finally,":[107],"inputs":[110],"obtained":[113,177],"by":[114],"corresponding":[117],"standard":[118],"LCP.":[119],"The":[120],"proposed":[121,155],"provides":[123],"unified":[125],"framework":[126],"multibody":[136],"dynamic":[137],"systems.":[138],"Numerical":[139],"simulations":[140],"virtual":[142],"experiments":[143],"conducted":[145],"to":[146],"verify":[147],"robustness":[149],"efficiency":[152],"method,":[156],"i.e.,":[157],"constraints":[161],"satisfied":[163],"points,":[168],"high":[170],"accuracy":[171],"results":[174],"low":[179],"computational":[180],"cost.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}