{"id":"https://openalex.org/W4399407739","doi":"https://doi.org/10.1109/tie.2024.3398678","title":"Continuum Robots: A Real-Time Model-Based Data-Driven Nonlinear Controller","display_name":"Continuum Robots: A Real-Time Model-Based Data-Driven Nonlinear Controller","publication_year":2024,"publication_date":"2024-06-06","ids":{"openalex":"https://openalex.org/W4399407739","doi":"https://doi.org/10.1109/tie.2024.3398678"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3398678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3398678","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/A5008800811","display_name":"Gang Zhang","orcid":"https://orcid.org/0000-0001-9843-1818"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gang Zhang","raw_affiliation_strings":["Mechanical Engineering Department, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087366165","display_name":"Fuxin Du","orcid":"https://orcid.org/0000-0001-9781-9677"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuxin Du","raw_affiliation_strings":["Mechanical Engineering Department, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102771427","display_name":"Xingyao Zhang","orcid":"https://orcid.org/0009-0006-3182-2332"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyao Zhang","raw_affiliation_strings":["Mechanical Engineering Department, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015894904","display_name":"Ke Wu","orcid":"https://orcid.org/0000-0002-1141-6461"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ke Wu","raw_affiliation_strings":["Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France"],"affiliations":[{"raw_affiliation_string":"Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Zheng","raw_affiliation_strings":["School of Mathematics and Big Data, Foshan University, Foshan, China","IntelliSobot Technology (IST) Company Ltd., Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Mathematics and Big Data, Foshan University, Foshan, China","institution_ids":["https://openalex.org/I14894300"]},{"raw_affiliation_string":"IntelliSobot Technology (IST) Company Ltd., Suzhou, Jiangsu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["Control Science and Engineering Department, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Control Science and Engineering Department, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["Control Science and Engineering Department, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Control Science and Engineering Department, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5008800811"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":6.7793,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.97435766,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"71","issue":"12","first_page":"16176","last_page":"16186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9617000222206116,"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":0.9617000222206116,"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/robot","display_name":"Robot","score":0.6892377734184265},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6247785687446594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6111634969711304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5228353142738342},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5050173401832581},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46706777811050415},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.4604106843471527},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4562855660915375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2740594744682312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2618539333343506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1841292679309845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15744516253471375}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6892377734184265},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6247785687446594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6111634969711304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5228353142738342},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5050173401832581},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46706777811050415},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.4604106843471527},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4562855660915375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2740594744682312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2618539333343506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1841292679309845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15744516253471375},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3398678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3398678","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/G404316298","display_name":null,"funder_award_id":"52375020","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2335997780","https://openalex.org/W2344522734","https://openalex.org/W2770049904","https://openalex.org/W2911226473","https://openalex.org/W3116138474","https://openalex.org/W3194369447","https://openalex.org/W3196980559","https://openalex.org/W3200209451","https://openalex.org/W3204719635","https://openalex.org/W4200459982","https://openalex.org/W4210927443","https://openalex.org/W4224278047","https://openalex.org/W4285246866","https://openalex.org/W4292429765","https://openalex.org/W4293179670","https://openalex.org/W4306663453","https://openalex.org/W4310588781","https://openalex.org/W4312346562","https://openalex.org/W4317038623","https://openalex.org/W4319314995","https://openalex.org/W4360619340","https://openalex.org/W4386883629","https://openalex.org/W4387682259","https://openalex.org/W4389252569"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Model-based":[0],"control":[1,98,143],"for":[2,141],"continuum":[3,21,56,70,145],"robots":[4,22],"is":[5,47,60,77,100,148],"often":[6],"based":[7,79,102],"on":[8,80,103],"the":[9,16,32,51,64,68,81,85,89,104,114,151],"piecewise":[10],"constant":[11],"curvature":[12],"(PCC)":[13],"assumption.":[14],"However,":[15],"actual":[17],"physical":[18],"motions":[19,87],"of":[20,55,67,88,125,132,144,153],"deviate":[23],"significantly":[24],"from":[25],"this":[26,40,94,154],"assumption,":[27],"posing":[28],"challenges":[29],"to":[30,49,62,150],"achieving":[31,121],"desired":[33],"stability":[34,54,117],"and":[35,53,84,111,118,128],"accuracy":[36,124,131],"in":[37,93],"control.":[38],"In":[39],"article,":[41],"a":[42,122,129,138],"real-time":[43,73],"model-based":[44,142],"data-driven":[45],"controller":[46],"designed":[48,61],"enhance":[50],"precision":[52],"robots.":[57,71],"An":[58],"algorithm":[59],"construct":[63],"static":[65,82],"model":[66,76],"cable-driven":[69],"A":[72,96],"data-based":[74,105],"kinematics":[75,106],"formulated":[78],"model,":[83],"multistate":[86],"robot":[90],"are":[91],"described":[92],"model.":[95,107],"nonlinear":[97],"strategy":[99],"proposed":[101],"Validation":[108],"through":[109],"simulations":[110],"experiments":[112],"demonstrates":[113],"method's":[115],"robust":[116],"impressive":[119],"precision,":[120],"positioning":[123],"0.0318":[126],"mm":[127],"tracking":[130],"0.0434":[133],"mm.":[134],"This":[135],"article":[136],"provides":[137],"general":[139],"paradigm":[140],"robots,":[146],"which":[147],"crucial":[149],"advancement":[152],"industry.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
