{"id":"https://openalex.org/W4404788911","doi":"https://doi.org/10.1109/tie.2024.3497329","title":"Offline-to-Online Learning Enabled Robust Control for Uncertain Robotic Systems Pursuing Constraint-Following","display_name":"Offline-to-Online Learning Enabled Robust Control for Uncertain Robotic Systems Pursuing Constraint-Following","publication_year":2024,"publication_date":"2024-11-27","ids":{"openalex":"https://openalex.org/W4404788911","doi":"https://doi.org/10.1109/tie.2024.3497329"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3497329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3497329","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/A5103494060","display_name":"Runze Zheng","orcid":"https://orcid.org/0009-0000-9225-7388"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runze Zheng","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0000-9225-7388","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tianxiang Chen","orcid":"https://orcid.org/0009-0008-4699-211X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianxiang Chen","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0008-4699-211X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668802","display_name":"Xinglong Zhang","orcid":"https://orcid.org/0000-0002-0587-2487"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinglong Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0002-0587-2487","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087878315","display_name":"Zheshuo Zhang","orcid":"https://orcid.org/0000-0002-9939-8885"},"institutions":[{"id":"https://openalex.org/I4400573310","display_name":"Hangzhou City University","ror":"https://ror.org/01wck0s05","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573310"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheshuo Zhang","raw_affiliation_strings":["Intelligent Transportation System Research Center, Hangzhou City University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9939-8885","affiliations":[{"raw_affiliation_string":"Intelligent Transportation System Research Center, Hangzhou City University, Hangzhou, China","institution_ids":["https://openalex.org/I4400573310"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071742051","display_name":"Xingjian Jing","orcid":"https://orcid.org/0000-0003-3498-2180"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xingjian Jing","raw_affiliation_strings":["Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-3498-2180","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036227113","display_name":"Hui Yin","orcid":"https://orcid.org/0000-0002-6611-2684"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Yin","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-6611-2684","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3577,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81729196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"72","issue":"6","first_page":"6432","last_page":"6442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9965000152587891,"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":0.9965000152587891,"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":0.9441999793052673,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9021000266075134,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.5800145268440247},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5662670731544495},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5011274814605713},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4955490827560425},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4857204556465149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4812224209308624},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.4799511730670929},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3991495668888092},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33767688274383545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29131901264190674},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.16703280806541443}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800145268440247},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5662670731544495},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5011274814605713},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4955490827560425},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4857204556465149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4812224209308624},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.4799511730670929},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3991495668888092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33767688274383545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29131901264190674},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.16703280806541443},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3497329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3497329","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/G7597036688","display_name":null,"funder_award_id":"52105096","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8501376102","display_name":null,"funder_award_id":"52475098","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2003701638","https://openalex.org/W2045319275","https://openalex.org/W2073224148","https://openalex.org/W2094489189","https://openalex.org/W2113653561","https://openalex.org/W2137983211","https://openalex.org/W2167704915","https://openalex.org/W2894107392","https://openalex.org/W2901402208","https://openalex.org/W2921373103","https://openalex.org/W3005953922","https://openalex.org/W3041373200","https://openalex.org/W3092575029","https://openalex.org/W3114904763","https://openalex.org/W3172708030","https://openalex.org/W3174508330","https://openalex.org/W3198662551","https://openalex.org/W4213446770","https://openalex.org/W4225887252","https://openalex.org/W4229014698","https://openalex.org/W4281253430","https://openalex.org/W4292402580","https://openalex.org/W4312973784","https://openalex.org/W4327521999","https://openalex.org/W4385338510","https://openalex.org/W4399114376","https://openalex.org/W6695676441","https://openalex.org/W6739659843"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W1979214824","https://openalex.org/W2104109729","https://openalex.org/W324942907","https://openalex.org/W2192101006","https://openalex.org/W2685330831","https://openalex.org/W2116800748","https://openalex.org/W2386946123","https://openalex.org/W2638730922","https://openalex.org/W2190465783"],"abstract_inverted_index":{"A":[0],"major":[1],"challenge":[2],"in":[3],"robust":[4,35],"control":[5,36,65,125,140],"design":[6],"of":[7,37,56,137],"robotic":[8,38],"systems":[9],"is":[10,47,108],"finding":[11],"a":[12,26,54,72,119,150],"comprehensive":[13],"uncertainty":[14,21,82],"bound":[15],"(CUB)":[16],"with":[17,42,114],"low":[18],"conservativeness":[19],"for":[20,34],"compensation.":[22],"This":[23],"study":[24],"proposes":[25],"two-phase":[27],"learning":[28,102],"approach":[29],"to":[30,48,52,77,94,117,123,128],"learn":[31,95,118],"the":[32,50,79,96,100,109,138],"CUB":[33,97,122],"systems,":[39],"considering":[40],"uncertainties":[41],"unknown":[43],"bounds.":[44],"The":[45,68,87,133],"goal":[46],"drive":[49],"system":[51,81],"follow":[53],"class":[55],"servo":[57],"constraints":[58],"that":[59],"may":[60],"be":[61],"nonholonomic,":[62],"i.e.,":[63],"constraint-following":[64],"(CFC)":[66],"design.":[67],"first":[69,110],"phase":[70,89],"trains":[71],"deep":[73],"neural":[74],"network":[75],"(DNN)":[76],"approximate":[78],"ensemble":[80],"using":[83],"offline":[84,101],"supervised":[85],"learning.":[86],"second":[88],"constructs":[90],"an":[91],"adaptive":[92,115],"law":[93,116],"online,":[98],"covering":[99],"error.":[103],"To":[104],"our":[105],"knowledge,":[106],"this":[107],"CFC":[111],"combining":[112],"DNN":[113],"less":[120],"conservative":[121],"save":[124],"effort":[126],"and":[127,135,147],"eliminate":[129],"complex":[130],"manual":[131],"derivations.":[132],"effectiveness":[134],"merits":[136],"proposed":[139],"are":[141],"endorsed":[142],"by":[143],"theoretical":[144],"proofs,":[145],"simulations,":[146],"experiments":[148],"on":[149],"quadrotor":[151],"unmanned":[152],"aerial":[153],"vehicle.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}