{"id":"https://openalex.org/W4408609584","doi":"https://doi.org/10.1109/tie.2025.3548994","title":"Precision Trajectory Tracking of Robot Manipulator Using a Discrete-Time Learning-Based Neural Network Control With Prescribed Performance","display_name":"Precision Trajectory Tracking of Robot Manipulator Using a Discrete-Time Learning-Based Neural Network Control With Prescribed Performance","publication_year":2025,"publication_date":"2025-03-19","ids":{"openalex":"https://openalex.org/W4408609584","doi":"https://doi.org/10.1109/tie.2025.3548994"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3548994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3548994","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":null,"display_name":"Na Zhang","orcid":"https://orcid.org/0000-0002-3512-5896"},"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":"Na Zhang","raw_affiliation_strings":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-3512-5896","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015177036","display_name":"Fukai Zhang","orcid":"https://orcid.org/0000-0002-6780-0323"},"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":"Fukai Zhang","raw_affiliation_strings":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-6780-0323","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073021673","display_name":"Jiashuai Wang","orcid":"https://orcid.org/0000-0001-8064-7741"},"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":"Jiashuai Wang","raw_affiliation_strings":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0001-8064-7741","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"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":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-5906-5074","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075465468","display_name":"Cong Wang","orcid":"https://orcid.org/0000-0002-5601-2145"},"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":"Cong Wang","raw_affiliation_strings":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-5601-2145","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100343520","display_name":"Ke Li","orcid":"https://orcid.org/0000-0002-8660-0116"},"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":"Ke Li","raw_affiliation_strings":["Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-8660-0116","affiliations":[{"raw_affiliation_string":"Center for Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, P. R. China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.5154,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97904603,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"72","issue":"10","first_page":"10640","last_page":"10650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.928600013256073,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.928600013256073,"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/trajectory","display_name":"Trajectory","score":0.7329000234603882},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6961991786956787},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6631985306739807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6328023672103882},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5950167179107666},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5085989236831665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4943664073944092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48561063408851624},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4511031210422516},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44892168045043945},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.44249606132507324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4343818724155426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.265676885843277},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21886330842971802}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7329000234603882},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6961991786956787},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6631985306739807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6328023672103882},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5950167179107666},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5085989236831665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4943664073944092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48561063408851624},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4511031210422516},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44892168045043945},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.44249606132507324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343818724155426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.265676885843277},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21886330842971802},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3548994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3548994","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/G1986256372","display_name":null,"funder_award_id":"62073195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4663215119","display_name":null,"funder_award_id":"62203262","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6304398447","display_name":null,"funder_award_id":"ZR2022QF124","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6951794512","display_name":null,"funder_award_id":"2020YFC2007904","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7173959118","display_name":null,"funder_award_id":"62350083","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/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1988367613","https://openalex.org/W2567035109","https://openalex.org/W2569757722","https://openalex.org/W2608224837","https://openalex.org/W2795105096","https://openalex.org/W2797280915","https://openalex.org/W2797679089","https://openalex.org/W2946327574","https://openalex.org/W2954973371","https://openalex.org/W2963280855","https://openalex.org/W3094186510","https://openalex.org/W3106544732","https://openalex.org/W3138616321","https://openalex.org/W3152926585","https://openalex.org/W3158749502","https://openalex.org/W4205837126","https://openalex.org/W4221070022","https://openalex.org/W4244355250","https://openalex.org/W4285197906","https://openalex.org/W4285383841","https://openalex.org/W4286372820","https://openalex.org/W4294691695","https://openalex.org/W4386085840","https://openalex.org/W4386208320","https://openalex.org/W4386472898","https://openalex.org/W4391765476","https://openalex.org/W4401536001","https://openalex.org/W4401758199"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W1755319685","https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4366609476","https://openalex.org/W2078127841"],"abstract_inverted_index":{"Robot":[0],"manipulator":[1],"control":[2,30,40,157],"for":[3,194],"accurate":[4,67],"trajectory":[5,76],"tracking":[6,79,142,170,190],"with":[7,31,148,152,178],"unknown":[8,71],"system":[9,72],"dynamics":[10,73],"and":[11,45,126,136,154,160,175,182,192],"time-varying":[12],"external":[13,134,183],"disturbances":[14,135],"is":[15,119],"a":[16,24],"challenging":[17],"issue.":[18,38],"This":[19,39,81,185],"article":[20],"aimed":[21],"to":[22,35,131,137],"propose":[23],"novel":[25],"discrete-time":[26],"learning-based":[27],"neural":[28,56],"network":[29,57,111],"prescribed":[32,128],"performance":[33,129,174],"(LNNCPP)":[34],"solve":[36],"this":[37],"scheme":[41],"consists":[42],"of":[43,70,95,116,141],"offline":[44,51,82],"online":[46,114],"learning":[47,52,69,83,87,115],"phases.":[48],"In":[49],"the":[50,61,78,86,93,100,117,123,127,133,139,149,166,179,189],"phase,":[53],"an":[54],"adaptive":[55],"controller":[58],"(ANNC)":[59],"satisfying":[60],"persistent":[62],"excitation":[63],"condition":[64],"can":[65,106],"achieve":[66],"closed-loop":[68],"along":[74],"recurrent":[75],"during":[77],"control.":[80],"focuses":[84],"on":[85,122],"in":[88],"dynamic":[89,180],"environments":[90],"requiring":[91],"neither":[92],"evaluation":[94],"inverse":[96],"dynamical":[97],"model":[98,156],"nor":[99],"time-consuming":[101],"training.":[102],"The":[103,113,144],"learned":[104,124],"knowledge":[105,125],"be":[107],"stored":[108],"as":[109],"constant":[110],"weights.":[112],"LNNCPP":[118,145,167],"developed":[120],"based":[121],"(PP)":[130],"counter":[132],"guarantee":[138],"PP":[140,153],"errors.":[143],"was":[146],"compared":[147],"ANNC,":[150],"ANNC":[151],"sliding":[155],"by":[158],"simulation":[159],"real-world":[161],"experiment.":[162],"Results":[163],"showed":[164],"that":[165],"had":[168],"improved":[169],"accuracy,":[171],"better":[172],"transient":[173],"lower":[176],"oscillations":[177],"changes":[181],"disturbances.":[184],"method":[186],"may":[187],"promote":[188],"accuracy":[191],"stability":[193],"robotic":[195],"manipulators":[196],"towards":[197],"unstructured":[198],"environments.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}