{"id":"https://openalex.org/W4296425755","doi":"https://doi.org/10.1109/tie.2022.3206694","title":"Global Composite Learning Fixed-Time Control of Robotic Systems With Asymmetric Tracking Error Constraints","display_name":"Global Composite Learning Fixed-Time Control of Robotic Systems With Asymmetric Tracking Error Constraints","publication_year":2022,"publication_date":"2022-09-20","ids":{"openalex":"https://openalex.org/W4296425755","doi":"https://doi.org/10.1109/tie.2022.3206694"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3206694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3206694","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100433659","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-9971-3523"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-9971-3523","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058925179","display_name":"Keli Pang","orcid":"https://orcid.org/0000-0003-0903-5042"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keli Pang","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6311-2112","affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100433659"],"corresponding_institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"],"apc_list":null,"apc_paid":null,"fwci":2.7907,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90462494,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"70","issue":"7","first_page":"7082","last_page":"7091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9922000169754028,"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":0.7976506948471069},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.73253333568573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5295962691307068},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5197272300720215},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48309922218322754},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4800932705402374},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4757423400878906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33673202991485596},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1790258288383484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17796969413757324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13730373978614807}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7976506948471069},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.73253333568573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5295962691307068},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5197272300720215},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48309922218322754},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4800932705402374},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4757423400878906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33673202991485596},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1790258288383484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17796969413757324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13730373978614807},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3206694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3206694","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1705705081","display_name":null,"funder_award_id":"61933009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1790337701","display_name":null,"funder_award_id":"62203380","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2142902482","display_name":null,"funder_award_id":"F2020203062","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G4811355181","display_name":null,"funder_award_id":"F2020203097","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6841753186","display_name":null,"funder_award_id":"62073276","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/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1559107966","https://openalex.org/W1597554859","https://openalex.org/W2015113370","https://openalex.org/W2015982707","https://openalex.org/W2046485500","https://openalex.org/W2067603665","https://openalex.org/W2116859143","https://openalex.org/W2344210503","https://openalex.org/W2508624963","https://openalex.org/W2602066128","https://openalex.org/W2736101375","https://openalex.org/W2787504052","https://openalex.org/W2789185723","https://openalex.org/W2793964385","https://openalex.org/W2954521320","https://openalex.org/W2978213765","https://openalex.org/W2998333608","https://openalex.org/W2998566163","https://openalex.org/W3005219233","https://openalex.org/W3016434138","https://openalex.org/W3016817880","https://openalex.org/W3104686123","https://openalex.org/W3140101714","https://openalex.org/W3159398736","https://openalex.org/W3172398262","https://openalex.org/W3176881123","https://openalex.org/W3189384752","https://openalex.org/W4213313928","https://openalex.org/W4213451691"],"related_works":["https://openalex.org/W1517908938","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161","https://openalex.org/W1545539801","https://openalex.org/W4382936077","https://openalex.org/W4280596088","https://openalex.org/W1966075561"],"abstract_inverted_index":{"Superior":[0],"parameter":[1,30,36,83,127,132],"convergence":[2,31,37],"is":[3,39,74,106,134,189],"desirable":[4],"in":[5,32],"adaptive":[6,25],"robot":[7,26],"control":[8,27,53,229,259],"as":[9],"it":[10],"can":[11,233],"enhance":[12],"the":[13,17,33,78,99,118,147,155,193,197,214,220,225,235,252,257],"overall":[14],"stability":[15],"of":[16,24,227,238,256],"closed-loop":[18],"system.":[19],"However,":[20],"most":[21,203],"current":[22],"studies":[23],"concentrate":[28],"on":[29,109,247],"steady":[34],"state,":[35],"speed":[38,95],"rarely":[40],"investigated.":[41],"In":[42,98],"this":[43],"article,":[44],"we":[45],"propose":[46],"a":[47,102,137,174,183],"novel":[48],"global":[49,228],"composite":[50,70,100],"learning":[51,71],"fixed-time":[52,72,94],"scheme":[54],"for":[55,167],"robotic":[56,168],"systems":[57],"with":[58,92,178],"tracking":[59,87,121,156,185,194],"error":[60,85,88,105,122,157,176,186,195],"constraints":[61,158,187],"requirements.":[62],"A":[63],"nonsingular":[64],"fast":[65,93],"integral":[66],"terminal":[67],"sliding":[68],"mode-based":[69],"controller":[73],"designed,":[75],"which":[76],"gives":[77],"first":[79],"results":[80],"that":[81,130,209],"both":[82,117],"estimation":[84,133],"and":[86,113,116,120,245,254],"converge":[89],"to":[90,125,162,191],"zero":[91],"without":[96],"singularity.":[97],"learning,":[101],"modified":[103,175],"prediction":[104,119],"constructed":[107],"based":[108],"online":[110],"historical":[111],"data":[112],"regressor":[114],"extension,":[115],"are":[123,159],"applied":[124],"update":[126],"estimates":[128],"such":[129],"accurate":[131],"obtained":[135],"under":[136],"much":[138],"weak":[139],"excitation":[140,144,152],"condition":[141],"termed":[142],"interval":[143],"rather":[145],"than":[146],"typically":[148],"required":[149],"stringent":[150],"persistent":[151],"condition.":[153],"Besides,":[154],"further":[160],"considered":[161],"guarantee":[163],"prescribed":[164,198],"transient":[165],"behavior":[166],"systems.":[169],"More":[170],"specifically,":[171],"by":[172],"blending":[173],"transformation":[177],"an":[179,248],"asymmetric":[180,199,239],"barrier":[181,205],"function,":[182],"new":[184],"method":[188,216],"proposed":[190,215,258],"restrict":[192],"within":[196],"time-varying":[200],"boundary.":[201],"Unlike":[202],"existing":[204],"Lyapunov":[206],"function-based":[207],"controls":[208],"only":[210,218],"achieve":[211],"semiglobal":[212],"results,":[213],"not":[217],"removes":[219],"initial":[221],"condition-dependent":[222],"restriction,":[223],"giving":[224],"benefit":[226],"performance,":[230],"but":[231],"also":[232],"handle":[234],"general":[236],"case":[237],"output":[240],"constraints.":[241],"Both":[242],"theoretical":[243],"analysis":[244],"experiments":[246],"industrial":[249],"manipulator":[250],"confirm":[251],"effectiveness":[253],"benefits":[255],"scheme.":[260]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
