{"id":"https://openalex.org/W4211192297","doi":"https://doi.org/10.1109/tii.2022.3149919","title":"A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators","display_name":"A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators","publication_year":2022,"publication_date":"2022-02-09","ids":{"openalex":"https://openalex.org/W4211192297","doi":"https://doi.org/10.1109/tii.2022.3149919"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2022.3149919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3149919","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/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"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/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","State Key Laboratory of Robotics and Systems (HIT), Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems (HIT), Harbin, China","institution_ids":["https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064914047","display_name":"Zhaohui Zhong","orcid":"https://orcid.org/0000-0003-0382-5350"},"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":"Zhaohui Zhong","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020189974","display_name":"Peng Yu","orcid":"https://orcid.org/0000-0001-6310-514X"},"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":"Peng Yu","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349193","display_name":"Zhan Li","orcid":"https://orcid.org/0000-0002-3928-1642"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhan Li","raw_affiliation_strings":["Department of Computer Science, Swansea University, Swansea, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Swansea University, Swansea, U.K","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems (HIT), Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems (HIT), Harbin, China","institution_ids":["https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100741008"],"corresponding_institution_ids":["https://openalex.org/I157773358","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":4.6182,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.95242573,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"18","issue":"12","first_page":"8595","last_page":"8606"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9947999715805054,"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":0.9947999715805054,"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":0.9886000156402588,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9855999946594238,"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":0.6947459578514099},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.68850177526474},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5576961636543274},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.544809877872467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5061826109886169},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5036699175834656},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.45575183629989624},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4482302665710449},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41625407338142395},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.264653742313385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23918947577476501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20868951082229614},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.17583903670310974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14143070578575134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1298147737979889},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.08926048874855042}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6947459578514099},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.68850177526474},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5576961636543274},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.544809877872467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5061826109886169},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5036699175834656},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.45575183629989624},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4482302665710449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41625407338142395},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.264653742313385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23918947577476501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20868951082229614},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.17583903670310974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14143070578575134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1298147737979889},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.08926048874855042},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tii.2022.3149919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3149919","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"},{"id":"pmh:oai:cronfa.swan.ac.uk:cronfa59339","is_oa":false,"landing_page_url":"https://cronfa.swan.ac.uk/Record/cronfa59339","pdf_url":null,"source":{"id":"https://openalex.org/S4306401612","display_name":"Cronfa (Swansea University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39586589","host_organization_name":"Swansea University","host_organization_lineage":["https://openalex.org/I39586589"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1158256415","display_name":null,"funder_award_id":"62173352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2320314018","display_name":null,"funder_award_id":"2021A1515012314","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G7457013702","display_name":null,"funder_award_id":"U181126","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/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1497337362","https://openalex.org/W1593148869","https://openalex.org/W1974217640","https://openalex.org/W1974974058","https://openalex.org/W2004573655","https://openalex.org/W2023468600","https://openalex.org/W2028878732","https://openalex.org/W2035550461","https://openalex.org/W2049697033","https://openalex.org/W2075929513","https://openalex.org/W2101482846","https://openalex.org/W2122433256","https://openalex.org/W2127832757","https://openalex.org/W2131965907","https://openalex.org/W2139494503","https://openalex.org/W2145238401","https://openalex.org/W2153202134","https://openalex.org/W2467979783","https://openalex.org/W2754322505","https://openalex.org/W2765094417","https://openalex.org/W2767834527","https://openalex.org/W2769154133","https://openalex.org/W2772588680","https://openalex.org/W2787963636","https://openalex.org/W2887685036","https://openalex.org/W2898667909","https://openalex.org/W2899509863","https://openalex.org/W2910883529","https://openalex.org/W2954973371","https://openalex.org/W2993058161","https://openalex.org/W3008051049","https://openalex.org/W3020500201","https://openalex.org/W3093636714","https://openalex.org/W3137613675","https://openalex.org/W3143287385","https://openalex.org/W3176661107","https://openalex.org/W6675394745"],"related_works":["https://openalex.org/W2955874498","https://openalex.org/W3179199550","https://openalex.org/W3130899796","https://openalex.org/W4313220135","https://openalex.org/W222741131","https://openalex.org/W2130594209","https://openalex.org/W1536057753","https://openalex.org/W1967928240","https://openalex.org/W2623479457","https://openalex.org/W4380488631"],"abstract_inverted_index":{"Fault":[0],"tolerance":[1,111],"is":[2,73,152,174],"a":[3,95,123,136,141,155,191],"critical":[4],"requirement":[5],"for":[6,176],"robust":[7],"motion":[8,42],"control":[9,47,100,114,150],"of":[10,30,39,49,60,66,77,86,102,116,130,135,162,179,182,202,207],"redundant":[11,20,50,103,117,165,192],"robotic":[12,71],"manipulators.":[13],"This":[14],"article":[15],"aims":[16],"to":[17,25,198],"endow":[18],"the":[19,23,27,33,64,67,70,78,82,90,109,113,131,148,160,164,177,180,200,203,208],"manipulator":[21,51,118,193],"with":[22],"capability":[24],"achieve":[26],"required":[28],"path":[29],"end-effector":[31],"in":[32,55,112],"condition":[34,68],"that":[35,69],"one":[36],"or":[37],"some":[38],"its":[40],"joints\u2019":[41],"fail.":[43],"Although":[44],"many":[45],"fault-tolerant":[46,98,149],"algorithms":[48],"have":[52],"been":[53],"proposed":[54,94,132,175,209],"recent":[56],"years.":[57],"However,":[58],"few":[59],"them":[61],"are":[62,194],"on":[63,190],"basis":[65],"model":[72,80],"unknown.":[74],"The":[75,128],"complexity":[76],"calculation":[79],"limits":[81],"efficiency":[83,204],"and":[84,140,187,196,205],"portability":[85],"these":[87],"algorithms.":[88],"For":[89],"first":[91],"time,":[92],"we":[93],"discrete":[96,137,142,170],"model-free":[97],"tracking":[99],"scheme":[101,133],"manipulator,":[104],"which":[105,147],"takes":[106],"into":[107,122,154],"account":[108],"fault":[110],"system":[115],"by":[119,146],"formulating":[120],"it":[121],"quadratic":[124],"programming":[125],"(QP)":[126],"framework.":[127],"core":[129],"consists":[134],"kinematic":[138,167],"estimator":[139],"QP":[143],"solver,":[144],"powered":[145],"problem":[151,158],"transformed":[153],"unified":[156],"computing":[157],"relaxing":[159],"need":[161],"knowing":[163],"manipulator\u2019s":[166],"model.":[168],"A":[169],"joint":[171],"space":[172],"observer":[173],"detection":[178],"happening":[181],"faulty":[183],"states.":[184],"Extensive":[185],"simulations":[186],"experiments":[188],"based":[189],"performed":[195],"analyzed":[197],"support":[199],"verification":[201],"effectiveness":[206],"scheme.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}
