{"id":"https://openalex.org/W7128995467","doi":"https://doi.org/10.1109/tie.2026.3661018","title":"Shattering Latency Boundaries: An LSTM\u2013RCM Driven Smith Predictor for Path Tracking Control Under Time Delay","display_name":"Shattering Latency Boundaries: An LSTM\u2013RCM Driven Smith Predictor for Path Tracking Control Under Time Delay","publication_year":2026,"publication_date":"2026-02-16","ids":{"openalex":"https://openalex.org/W7128995467","doi":"https://doi.org/10.1109/tie.2026.3661018"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3661018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3661018","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/A5079405484","display_name":"Seokki Lee","orcid":"https://orcid.org/0000-0002-5637-252X"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokki Lee","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-4875-7334","affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004566103","display_name":"Junmin Park","orcid":"https://orcid.org/0009-0006-1431-6403"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junmin Park","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0006-1431-6403","affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076711123","display_name":"Munyu Kim","orcid":"https://orcid.org/0000-0001-5375-6344"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Munyu Kim","raw_affiliation_strings":["Advanced Robotics Research Center, Korea Institute of Machinery and Materials (KIMM), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-5375-6344","affiliations":[{"raw_affiliation_string":"Advanced Robotics Research Center, Korea Institute of Machinery and Materials (KIMM), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082361918","display_name":"Joono Cheong","orcid":"https://orcid.org/0000-0002-6220-0513"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joono Cheong","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-6220-0513","affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, Sejong, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":2.7214,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85689352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":"7","first_page":"10314","last_page":"10326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.385699987411499,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.385699987411499,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.10939999669790268,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.07850000262260437,"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/smith-predictor","display_name":"Smith predictor","score":0.8210999965667725},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7021999955177307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6658999919891357},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.6079000234603882},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.44929999113082886},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.44510000944137573},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4174000024795532},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.40230000019073486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3874000012874603}],"concepts":[{"id":"https://openalex.org/C162853984","wikidata":"https://www.wikidata.org/wiki/Q7545392","display_name":"Smith predictor","level":4,"score":0.8210999965667725},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7021999955177307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6658999919891357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140000224113464},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6079000234603882},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.44510000944137573},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.40230000019073486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3874000012874603},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3440999984741211},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.32850000262260437},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3199999928474426},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2757999897003174},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.2630999982357025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25769999623298645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3661018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3661018","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/F4320321373","display_name":"Korea University","ror":"https://ror.org/047dqcg40"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2018099115","https://openalex.org/W2019826771","https://openalex.org/W2052334067","https://openalex.org/W2155939065","https://openalex.org/W2162469661","https://openalex.org/W2167773080","https://openalex.org/W2506632866","https://openalex.org/W2788496341","https://openalex.org/W2884237909","https://openalex.org/W2902800540","https://openalex.org/W2938624409","https://openalex.org/W2966782227","https://openalex.org/W2970619889","https://openalex.org/W2993547506","https://openalex.org/W3004384589","https://openalex.org/W3092475999","https://openalex.org/W3115899842","https://openalex.org/W3145073221","https://openalex.org/W3201994665","https://openalex.org/W4220993679","https://openalex.org/W4306382333","https://openalex.org/W4385232483","https://openalex.org/W4391074268","https://openalex.org/W4391175719","https://openalex.org/W4393103270","https://openalex.org/W4395050767","https://openalex.org/W4399358854","https://openalex.org/W4403123233","https://openalex.org/W4411330189","https://openalex.org/W4411699427","https://openalex.org/W4411801373","https://openalex.org/W4412458454","https://openalex.org/W4413487250"],"related_works":[],"abstract_inverted_index":{"Time-varying":[0],"communication":[1],"delays":[2,21,111],"fundamentally":[3],"limit":[4],"the":[5,81,120,138],"performance":[6],"of":[7,112],"networked":[8],"control":[9,70],"systems":[10],"in":[11],"robotic":[12],"applications.":[13],"Classical":[14],"Smith":[15,65,122,140,145],"predictors":[16],"can":[17],"compensate":[18],"for":[19],"constant":[20],"but":[22],"degrade":[23],"under":[24,109,154],"nonlinear":[25],"dynamics":[26,44],"and":[27,46,106,127,142,152],"stochastic":[28,155],"variations.":[29],"This":[30],"article":[31],"presents":[32],"a":[33,39,47,58,64,98,131],"predictive":[34],"delay-compensation":[35],"framework":[36],"that":[37],"embeds":[38],"long":[40],"short-term":[41],"memory":[42],"(LSTM)":[43],"model":[45,61],"sparse":[48],"variational":[49],"Gaussian":[50],"process":[51],"(SVGP)":[52],"residual":[53,59],"corrector":[54],"referred":[55],"to":[56,114],"as":[57],"correction":[60],"(RCM)":[62],"within":[63],"predictor":[66,123,146],"architecture,":[67],"bridging":[68],"classical":[69],"with":[71,90],"data-driven":[72],"modeling.":[73],"The":[74,93],"LSTM":[75],"forecasts":[76],"delay-free":[77],"state":[78],"evolution,":[79],"while":[80],"SVGP":[82],"refines":[83],"these":[84],"predictions":[85],"by":[86],"modeling":[87],"structured":[88],"residuals":[89],"quantified":[91],"uncertainty.":[92],"approach":[94],"was":[95],"validated":[96],"on":[97],"mobile":[99],"robot":[100],"teleoperation":[101],"platform":[102],"executing":[103],"straight,":[104],"circular,":[105],"mixed":[107],"trajectories":[108],"round-trip":[110],"up":[113],"1":[115],"s.":[116],"Across":[117],"all":[118],"tests,":[119],"LSTM\u2013RCM":[121],"achieved":[124],"lower":[125],"lateral":[126],"heading":[128],"errors":[129],"than":[130],"pure":[132],"pursuit":[133],"controller":[134],"without":[135],"delay":[136],"compensation,":[137,148],"conventional":[139],"predictor,":[141],"an":[143],"enhanced":[144],"with$\\boldsymbol{H}$-filter":[147],"demonstrating":[149],"its":[150],"robustness":[151],"accuracy":[153],"network":[156],"delays.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-02-17T00:00:00"}
