{"id":"https://openalex.org/W4386212363","doi":"https://doi.org/10.1109/tie.2023.3299046","title":"A Robust Human\u2013Robot Collaborative Control Approach Based on Model Predictive Control","display_name":"A Robust Human\u2013Robot Collaborative Control Approach Based on Model Predictive Control","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4386212363","doi":"https://doi.org/10.1109/tie.2023.3299046"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3299046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3299046","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://nottingham-repository.worktribe.com/preview/26532744/IEEE_TIE_final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082638352","display_name":"Tianyi Zeng","orcid":"https://orcid.org/0000-0001-8551-0832"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Tianyi Zeng","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8551-0832","affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059324003","display_name":"Abdelkhalick Mohammad","orcid":"https://orcid.org/0000-0001-7623-125X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Abdelkhalick Mohammad","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7623-125X","affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074548389","display_name":"Andres Gameros","orcid":"https://orcid.org/0000-0002-1508-8434"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andres Gameros Madrigal","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1508-8434","affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3595-0933","affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5092705662","display_name":"Max Keedwell","orcid":null},"institutions":[{"id":"https://openalex.org/I866009140","display_name":"Rolls-Royce (United Kingdom)","ror":"https://ror.org/04h08p482","country_code":"GB","type":"company","lineage":["https://openalex.org/I866009140"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Max Keedwell","raw_affiliation_strings":["Rolls-Royce plc., Bristol, U.K"],"raw_orcid":"https://orcid.org/0009-0004-3346-3949","affiliations":[{"raw_affiliation_string":"Rolls-Royce plc., Bristol, U.K","institution_ids":["https://openalex.org/I866009140"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082638352"],"corresponding_institution_ids":["https://openalex.org/I142263535"],"apc_list":null,"apc_paid":null,"fwci":2.686,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.90124996,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"71","issue":"7","first_page":"7360","last_page":"7369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9907000064849854,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/model-predictive-control","display_name":"Model predictive control","score":0.7257516980171204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5744456052780151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5623318552970886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5226038098335266},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5015530586242676},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4951583445072174},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42204374074935913},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4076696038246155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3992403745651245},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3937009572982788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3057616949081421},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28951215744018555}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7257516980171204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5744456052780151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5623318552970886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5226038098335266},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5015530586242676},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4951583445072174},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42204374074935913},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4076696038246155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3992403745651245},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3937009572982788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3057616949081421},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28951215744018555},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2023.3299046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3299046","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:nottingham-repository.worktribe.com:24657708","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/24657708","pdf_url":"https://nottingham-repository.worktribe.com/preview/26532744/IEEE_TIE_final.pdf","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:24657708","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/24657708","pdf_url":"https://nottingham-repository.worktribe.com/preview/26532744/IEEE_TIE_final.pdf","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386212363.pdf","grobid_xml":"https://content.openalex.org/works/W4386212363.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1597341217","https://openalex.org/W1597554859","https://openalex.org/W1981643206","https://openalex.org/W2001350252","https://openalex.org/W2007601393","https://openalex.org/W2042847506","https://openalex.org/W2047321986","https://openalex.org/W2073787051","https://openalex.org/W2135688580","https://openalex.org/W2590307769","https://openalex.org/W2763475766","https://openalex.org/W2768362740","https://openalex.org/W2779433322","https://openalex.org/W2905674064","https://openalex.org/W2916772767","https://openalex.org/W2945075306","https://openalex.org/W2963683864","https://openalex.org/W2976621600","https://openalex.org/W2983004896","https://openalex.org/W3115503078","https://openalex.org/W3129402722","https://openalex.org/W3194926127","https://openalex.org/W3205734378","https://openalex.org/W4240808193","https://openalex.org/W4298622787","https://openalex.org/W6731537957"],"related_works":["https://openalex.org/W48160925","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880"],"abstract_inverted_index":{"Human":[0],"skill-based":[1],"robotic":[2,94,118],"control":[3,34,59,86,126],"to":[4,43,83,117],"perform":[5],"critical":[6],"manufacturing":[7],"operations":[8],"(e.g.,":[9],"repair":[10],"and":[11,20,47,100,137],"inspection":[12],"for":[13,38],"high-value":[14],"assets)":[15],"can":[16,113],"reduce":[17],"scrap":[18],"rates":[19],"increase":[21],"overall":[22],"profitability":[23],"in":[24],"the":[25,69,72,85,93,105,110,123],"industrial":[26],"community.":[27],"In":[28],"this":[29],"study,":[30],"a":[31,56,61,147],"human\u2013robotic":[32],"collaborative":[33,125],"system":[35,95,127],"is":[36,52,128],"developed":[37],"accurate":[39],"path":[40],"tracking":[41],"subject":[42],"unknown":[44],"external":[45,77],"disturbances":[46],"multiple":[48],"physical":[49],"constraints.":[50],"This":[51],"achieved":[53],"by":[54,76,130],"designing":[55],"model":[57],"predictive":[58],"with":[60,97,134,151],"sliding-mode":[62],"disturbance":[63],"rejection":[64],"term.":[65],"To":[66],"rule":[67],"out":[68],"possibility":[70],"of":[71,122],"constraints":[73,80],"violation":[74],"caused":[75],"disturbances,":[78],"tightened":[79],"are":[81],"formulated":[82],"generate":[84],"input":[87],"signal.":[88],"The":[89,120],"proposed":[90,124],"controller":[91],"drives":[92],"remotely":[96],"enhanced":[98],"smoothness":[99],"real-time":[101],"human":[102,111],"modification":[103],"on":[104,146],"outputted":[106],"performance":[107],"so":[108],"that":[109],"experience":[112],"be":[114],"fully":[115],"transferred":[116],"systems.":[119],"efficacy":[121],"verified":[129],"both":[131],"Monte\u2013Carlo":[132],"simulation":[133],"200":[135],"cases":[136],"experimental":[138],"results":[139],"including":[140],"tungsten":[141],"inert":[142],"gas":[143],"welding":[144],"based":[145],"universal":[148],"robot":[149],"5e":[150],"6":[152],"degree-of-freedom.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}