{"id":"https://openalex.org/W3008051049","doi":"https://doi.org/10.1109/tii.2020.2976844","title":"Adaptive Discrete ZND Models for Tracking Control of Redundant Manipulator","display_name":"Adaptive Discrete ZND Models for Tracking Control of Redundant Manipulator","publication_year":2020,"publication_date":"2020-02-27","ids":{"openalex":"https://openalex.org/W3008051049","doi":"https://doi.org/10.1109/tii.2020.2976844","mag":"3008051049"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2020.2976844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2976844","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5021844766","display_name":"Min Yang","orcid":"https://orcid.org/0000-0003-2550-0549"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Yang","raw_affiliation_strings":["School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2550-0549","affiliations":[{"raw_affiliation_string":"School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2228-0395","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100388920","display_name":"Zhijun Zhang","orcid":"https://orcid.org/0000-0002-6859-3426"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Zhang","raw_affiliation_strings":["Research Institute, Sun Yat-sen University, Shenzhen, China","School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6859-3426","affiliations":[{"raw_affiliation_string":"Research Institute, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056953478","display_name":"Haifeng Hu","orcid":"https://orcid.org/0000-0002-4884-323X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifeng Hu","raw_affiliation_strings":["School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4884-323X","affiliations":[{"raw_affiliation_string":"School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9358,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.93849075,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"16","issue":"12","first_page":"7360","last_page":"7368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8647637367248535},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7814819812774658},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.7578074932098389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6931604743003845},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.600460410118103},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5864920616149902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5860463380813599},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.4676283001899719},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44999799132347107},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42433860898017883},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3563390374183655},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.22794613242149353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21931415796279907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21563807129859924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17110592126846313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15875491499900818}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8647637367248535},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7814819812774658},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7578074932098389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6931604743003845},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.600460410118103},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5864920616149902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5860463380813599},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.4676283001899719},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44999799132347107},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42433860898017883},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3563390374183655},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.22794613242149353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21931415796279907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21563807129859924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17110592126846313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15875491499900818},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2020.2976844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2976844","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2368597761","display_name":"\u57fa\u4e8e\u591a\u6a21\u6001\u4fe1\u53f7\u7684\u8111\u673a\u4ea4\u4e92\u53ca\u4e34\u5e8a\u5e94\u7528\u7814\u7a76","funder_award_id":"61633010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4228998522","display_name":null,"funder_award_id":"2017A030311029","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G5678804896","display_name":null,"funder_award_id":"61673402","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6387825162","display_name":null,"funder_award_id":"61976230","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G967642556","display_name":null,"funder_award_id":"61603142","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/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W76314153","https://openalex.org/W280536263","https://openalex.org/W1504986959","https://openalex.org/W1587979646","https://openalex.org/W2113265921","https://openalex.org/W2116897603","https://openalex.org/W2138594241","https://openalex.org/W2143611759","https://openalex.org/W2145238401","https://openalex.org/W2344053498","https://openalex.org/W2344560087","https://openalex.org/W2482430271","https://openalex.org/W2591194352","https://openalex.org/W2591999327","https://openalex.org/W2696256157","https://openalex.org/W2716009774","https://openalex.org/W2732094339","https://openalex.org/W2744482715","https://openalex.org/W2765094417","https://openalex.org/W2769154133","https://openalex.org/W2770049904","https://openalex.org/W2772169915","https://openalex.org/W2779147390","https://openalex.org/W2781841050","https://openalex.org/W2787568736","https://openalex.org/W2791809365","https://openalex.org/W2792251619","https://openalex.org/W2794096129","https://openalex.org/W2830950340","https://openalex.org/W2888103493","https://openalex.org/W2899034752","https://openalex.org/W3099523296","https://openalex.org/W4247080625","https://openalex.org/W6876251665"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W1984283682","https://openalex.org/W4240233348","https://openalex.org/W2005706483","https://openalex.org/W2142652711"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"many":[3],"models":[4,74,116],"with":[5,29,49,117],"high":[6,30],"precision":[7,31],"for":[8,32],"redundant":[9],"manipulator":[10],"tracking":[11,33],"control":[12,34],"have":[13],"been":[14],"proposed":[15,82],"based":[16],"on":[17,86,126],"precise":[18,23],"kinematics":[19],"equations.":[20],"Nevertheless,":[21],"without":[22],"kinematic":[24],"equations,":[25],"developing":[26,62],"a":[27,45],"model":[28,48,67,77,105],"is":[35,53,68,121],"meaningful.":[36],"With":[37],"the":[38,87,101,110,113,127,130],"help":[39],"of":[40,89,103,112,129],"zeroing":[41],"neural":[42],"dynamics":[43],"(ZND),":[44],"continuous":[46],"ZND":[47,65],"adaptive":[50,118],"Jacobian":[51,119],"matrix":[52,120],"obtained.":[54],"For":[55],"better":[56],"computer":[57],"operation":[58],"and":[59,78,106,135],"easier":[60],"understanding,":[61],"corresponding":[63],"discrete":[64],"(DZND)":[66],"also":[69],"significant.":[70],"Therefore,":[71],"two":[72,90,114],"DZND":[73,115],"(termed":[75],"DZND-I":[76,104],"DZND-II":[79,107],"model)":[80],"are":[81,97],"in":[83],"this":[84],"article":[85],"basis":[88,128],"discretization":[91],"formulas,":[92],"respectively.":[93,138],"Meanwhile,":[94],"theoretical":[95],"analyses":[96],"conducted":[98],"to":[99],"ensure":[100],"efficacy":[102,111],"model.":[108],"Finally,":[109],"substantiated":[122],"by":[123],"experimental":[124],"results":[125],"four-link":[131],"manipulator,":[132,134,137],"UR5":[133],"Jaco2":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}