{"id":"https://openalex.org/W7131875091","doi":"https://doi.org/10.1109/tie.2026.3663766","title":"Hierarchical Image-Based Visual-Servoing Control for Stewart Manipulators via Data-Driven Adaptation and Incremental Prediction","display_name":"Hierarchical Image-Based Visual-Servoing Control for Stewart Manipulators via Data-Driven Adaptation and Incremental Prediction","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131875091","doi":"https://doi.org/10.1109/tie.2026.3663766"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3663766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3663766","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":"Shengyou Zhou","orcid":"https://orcid.org/0009-0008-2951-7827"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyou Zhou","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-2951-7827","affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junzheng Wang","orcid":"https://orcid.org/0000-0002-7351-2643"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzheng Wang","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7351-2643","affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028967329","display_name":"Dongchen Liu","orcid":"https://orcid.org/0000-0002-7773-2520"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongchen Liu","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7773-2520","affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Yu","orcid":"https://orcid.org/0000-0002-7261-5448"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Yu","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7261-5448","affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Renjian Hao","orcid":"https://orcid.org/0009-0008-6229-0812"},"institutions":[{"id":"https://openalex.org/I4210088225","display_name":"China National Space Administration","ror":"https://ror.org/004vanv95","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210088225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renjian Hao","raw_affiliation_strings":["National Laboratory of Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-6229-0812","affiliations":[{"raw_affiliation_string":"National Laboratory of Space Intelligent Control, Beijing Institute of Control Engineering, Beijing, China","institution_ids":["https://openalex.org/I4210088225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jing Li","orcid":"https://orcid.org/0000-0003-2866-969X"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Li","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2866-969X","affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100615598","display_name":"Haowei Zhang","orcid":"https://orcid.org/0000-0001-8786-6736"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowei Zhang","raw_affiliation_strings":["Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Industry and Information Technology (MIIT), Key Laboratory of Intelligent Drive and Control for Complex Motion Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19300394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"8","first_page":"11811","last_page":"11823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9455999732017517,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9455999732017517,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0038999998942017555,"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/control-theory","display_name":"Control theory (sociology)","score":0.6499000191688538},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5710999965667725},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5516999959945679},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5335999727249146},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.531000018119812},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5008999705314636},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4260999858379364}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6499000191688538},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5710999965667725},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5516999959945679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5388000011444092},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5335999727249146},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.531000018119812},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4260999858379364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4212000072002411},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.4034000039100647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34619998931884766},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.296999990940094},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3663766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3663766","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/G4073680438","display_name":null,"funder_award_id":"62303056","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4956490759","display_name":null,"funder_award_id":"62261160575","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,11,32,43,56,69,96,101,117],"hierarchical":[4],"image-based":[5],"visual":[6,48],"servoing":[7],"(IBVS)":[8],"framework":[9],"for":[10,158],"Stewart":[12,83,163],"manipulator,":[13],"integrating":[14],"target":[15,160],"recognition,":[16],"tracking,":[17],"and":[18,25,55,77,111,129,138,151],"adaptive":[19,34,58,121],"control.":[20],"To":[21],"mitigate":[22],"calibration":[23],"uncertainties":[24],"external":[26],"disturbances":[27],"inherent":[28],"in":[29,80],"IBVS":[30],"systems,":[31],"data-driven":[33,57],"incremental":[35,52],"predictive":[36,140],"control":[37,137,141],"scheme":[38],"is":[39,124],"developed":[40],"by":[41],"constructing":[42],"linear":[44],"image-plane":[45],"model":[46,54],"from":[47],"feedback.":[49],"A":[50],"structured":[51],"prediction":[53],"law":[59],"are":[60],"introduced":[61],"to":[62,72,99,126],"avoid":[63],"updating":[64],"the":[65,144,156],"full":[66],"image":[67],"Jacobian,":[68],"process":[70],"subject":[71],"pose-observation":[73],"difficulty,":[74],"delay-induced":[75],"instability,":[76],"parameter":[78],"divergence":[79],"eye-in-hand":[81],"(EIH)":[82],"manipulators.":[84,164],"The":[85],"proposed":[86,145],"controller":[87],"employs":[88],"an":[89],"online":[90],"saturated":[91],"recursive":[92],"least-squares":[93],"algorithm":[94],"with":[95,120],"forgetting":[97],"factor":[98],"optimize":[100],"multi-objective":[102],"cost":[103],"function":[104],"that":[105,143],"incorporates":[106],"image-pixel":[107],"errors,":[108],"base":[109],"disturbances,":[110],"observed":[112],"manipulator":[113],"poses.":[114],"In":[115],"addition,":[116],"Newton-Raphson":[118],"iteration":[119],"termination":[122],"thresholds":[123],"used":[125],"ensure":[127],"efficient":[128],"accurate":[130],"kinematic":[131],"computation.":[132],"Comparative":[133],"experiments":[134],"against":[135],"feature-space":[136],"proportional-derivative":[139],"validate":[142],"method":[146],"significantly":[147],"reduces":[148],"pixel":[149],"errors":[150],"enhances":[152],"tracking":[153,161],"robustness,":[154],"demonstrating":[155],"effectiveness":[157],"dynamic":[159],"of":[162]},"counts_by_year":[],"updated_date":"2026-06-25T06:16:34.145877","created_date":"2026-02-28T00:00:00"}
