{"id":"https://openalex.org/W4385267622","doi":"https://doi.org/10.1109/tie.2023.3296831","title":"Inverse Optimal Adaptive Tracking Control of Robotic Manipulators Driven by Compliant Actuators","display_name":"Inverse Optimal Adaptive Tracking Control of Robotic Manipulators Driven by Compliant Actuators","publication_year":2023,"publication_date":"2023-07-26","ids":{"openalex":"https://openalex.org/W4385267622","doi":"https://doi.org/10.1109/tie.2023.3296831"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3296831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3296831","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/A5012463348","display_name":"Kaixin Lu","orcid":"https://orcid.org/0000-0002-1126-1076"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kaixin Lu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1126-1076","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009690848","display_name":"Shuaishuai Han","orcid":"https://orcid.org/0000-0002-3267-0864"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuaishuai Han","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3267-0864","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100628179","display_name":"Jun Yang","orcid":"https://orcid.org/0000-0002-3797-1949"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Yang","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3797-1949","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":3.1337,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.92630023,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"71","issue":"6","first_page":"6139","last_page":"6149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9945999979972839,"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":0.9945999979972839,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9940999746322632,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7603628039360046},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7094118595123291},{"id":"https://openalex.org/keywords/hamilton\u2013jacobi\u2013bellman-equation","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","score":0.6541451215744019},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6244364380836487},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5882341861724854},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.575438916683197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.564170241355896},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.548349916934967},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5140291452407837},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5050178170204163},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4520447850227356},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4387255609035492},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4357706904411316},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4354124069213867},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29578864574432373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2582991123199463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2421051561832428},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23291227221488953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2051316499710083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09083664417266846},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.07312482595443726}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7603628039360046},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7094118595123291},{"id":"https://openalex.org/C196978813","wikidata":"https://www.wikidata.org/wiki/Q3302775","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","level":3,"score":0.6541451215744019},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6244364380836487},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5882341861724854},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.575438916683197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.564170241355896},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.548349916934967},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5140291452407837},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5050178170204163},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4520447850227356},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4387255609035492},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4357706904411316},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4354124069213867},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29578864574432373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2582991123199463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2421051561832428},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23291227221488953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2051316499710083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09083664417266846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.07312482595443726},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3296831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3296831","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":[],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334971","display_name":"Science and Engineering Research Council","ror":"https://ror.org/00zgdb249"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W132264163","https://openalex.org/W1993709370","https://openalex.org/W1998034343","https://openalex.org/W2078046250","https://openalex.org/W2090167557","https://openalex.org/W2106557935","https://openalex.org/W2111253117","https://openalex.org/W2148727521","https://openalex.org/W2150535417","https://openalex.org/W2169932488","https://openalex.org/W2267593487","https://openalex.org/W2293200354","https://openalex.org/W2318579410","https://openalex.org/W2623634636","https://openalex.org/W2749355440","https://openalex.org/W2765847625","https://openalex.org/W2766558049","https://openalex.org/W2778707860","https://openalex.org/W2781895760","https://openalex.org/W2789351310","https://openalex.org/W2887519063","https://openalex.org/W2912259603","https://openalex.org/W2946133627","https://openalex.org/W2967622731","https://openalex.org/W2968260563","https://openalex.org/W2981246288","https://openalex.org/W2989936245","https://openalex.org/W3010689561","https://openalex.org/W3041284915","https://openalex.org/W3092498295","https://openalex.org/W3134386192","https://openalex.org/W3201721125","https://openalex.org/W3203410247","https://openalex.org/W3209014607","https://openalex.org/W4206303331","https://openalex.org/W4282944715","https://openalex.org/W4289277565","https://openalex.org/W4310420100","https://openalex.org/W4312626224","https://openalex.org/W4312934182","https://openalex.org/W6799835771","https://openalex.org/W6846146598"],"related_works":["https://openalex.org/W2379960361","https://openalex.org/W2133373519","https://openalex.org/W2478562663","https://openalex.org/W2104608934","https://openalex.org/W2465904370","https://openalex.org/W1498036222","https://openalex.org/W2107729799","https://openalex.org/W4210894462","https://openalex.org/W1972930307","https://openalex.org/W2365680665"],"abstract_inverted_index":{"Compliant":[0],"actuator":[1],"has":[2,19],"considerable":[3],"merits":[4],"for":[5,30,47,62,88,156],"safe":[6],"robot":[7],"control.":[8,34,160],"Although":[9],"the":[10,49,90,103,123,143,148],"control":[11,74,91,97],"problem":[12],"of":[13],"robotic":[14],"manipulators":[15],"with":[16,115],"compliant":[17],"actuators":[18],"been":[20],"extensively":[21],"investigated":[22],"in":[23,53],"recent":[24],"years,":[25],"limited":[26],"result":[27],"is":[28,37,45,58,99,108,113,147],"presented":[29],"optimal":[31,71,105,111,158],"trajectory":[32],"tracking":[33,124],"The":[35],"reason":[36],"that":[38,110,151],"a":[39,95,118,129],"complex":[40],"and":[41,56,93,122,136],"time-consuming":[42],"learning":[43,84],"procedure":[44],"needed":[46],"solving":[48],"Hamilton\u2013Jacobi\u2013Bellman":[50],"(HJB)":[51],"equation":[52],"real":[54],"time":[55,150],"it":[57],"difficult":[59],"to":[60,76,101,117,128,141],"reproduce":[61],"practical":[63],"engineering":[64],"systems.":[65],"This":[66],"work":[67],"proposes":[68],"an":[69],"inverse":[70,104,157],"adaptive":[72,83,159],"neural":[73],"scheme":[75],"remove":[77],"such":[78],"limitation.":[79],"A":[80],"tuning":[81],"functions-based":[82],"mechanism,":[85],"which":[86],"aims":[87],"boosting":[89],"efficiency":[92],"providing":[94],"simple":[96],"implementation,":[98],"proposed":[100],"update":[102],"controller.":[106],"It":[107,146],"proved":[109],"performance":[112],"achieved":[114],"respect":[116],"meaningful":[119],"cost":[120],"functional":[121],"error":[125],"ultimately":[126],"converges":[127],"tunable":[130],"residual":[131],"around":[132],"zero.":[133],"Both":[134],"simulations":[135],"experiments":[137],"are":[138,154],"carried":[139],"out":[140],"validate":[142],"established":[144],"results.":[145],"first":[149],"experimental":[152],"results":[153],"provided":[155]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}
