{"id":"https://openalex.org/W4294691695","doi":"https://doi.org/10.1109/tii.2022.3204307","title":"Data-Driven Control for Continuum Robots Based on Discrete Zeroing Neural Networks","display_name":"Data-Driven Control for Continuum Robots Based on Discrete Zeroing Neural Networks","publication_year":2022,"publication_date":"2022-09-05","ids":{"openalex":"https://openalex.org/W4294691695","doi":"https://doi.org/10.1109/tii.2022.3204307"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2022.3204307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3204307","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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0710-6409","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, 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 and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6310-514X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"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 and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0382-5350","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","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 Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2228-0395","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":3.6441,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.94400826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"19","issue":"5","first_page":"7088","last_page":"7098"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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/T13050","display_name":"Oil and Gas Production Techniques","score":0.9605000019073486,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10892","display_name":"Drilling and Well Engineering","score":0.9451000094413757,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/discretization","display_name":"Discretization","score":0.8892772197723389},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6814053058624268},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6388471722602844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6156024932861328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47570639848709106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4294228255748749},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3488091230392456},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3469560742378235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34492188692092896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3289511799812317},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3192598223686218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1533079743385315},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08657753467559814}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.8892772197723389},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6814053058624268},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6388471722602844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6156024932861328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47570639848709106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4294228255748749},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3488091230392456},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3469560742378235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34492188692092896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3289511799812317},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3192598223686218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1533079743385315},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08657753467559814},{"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/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/tii.2022.3204307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3204307","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":[{"score":0.44999998807907104,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"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"}],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1988003703","https://openalex.org/W2053485789","https://openalex.org/W2063507564","https://openalex.org/W2101667962","https://openalex.org/W2107489452","https://openalex.org/W2318613964","https://openalex.org/W2512635237","https://openalex.org/W2621077460","https://openalex.org/W2732094339","https://openalex.org/W2739636222","https://openalex.org/W2770049904","https://openalex.org/W2772169915","https://openalex.org/W2793953252","https://openalex.org/W2898248625","https://openalex.org/W2901112449","https://openalex.org/W2908901353","https://openalex.org/W2916819514","https://openalex.org/W2969389620","https://openalex.org/W2999072533","https://openalex.org/W3003338880","https://openalex.org/W3003406779","https://openalex.org/W3008051049","https://openalex.org/W3019396605","https://openalex.org/W3024536663","https://openalex.org/W3032958018","https://openalex.org/W3046547258","https://openalex.org/W3047753861","https://openalex.org/W3092598375","https://openalex.org/W3093636714","https://openalex.org/W3094071795","https://openalex.org/W3108449827","https://openalex.org/W3139408364","https://openalex.org/W3158933432","https://openalex.org/W3164300111","https://openalex.org/W4206044784","https://openalex.org/W4220779198","https://openalex.org/W4226444607","https://openalex.org/W4282930276","https://openalex.org/W4282936720"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W1971388572","https://openalex.org/W1507702947"],"abstract_inverted_index":{"The":[0],"effectiveness":[1],"of":[2,53,68,94],"continuous-time":[3],"zeroing":[4],"neural":[5],"network":[6],"(ZNN)":[7],"(CZNN)":[8],"in":[9,35],"continuum":[10,75,95],"robot":[11,76],"control":[12,101,123],"has":[13,32],"been":[14,33],"preliminarily":[15],"verified.":[16],"However,":[17],"CZNN":[18],"is":[19,114],"not":[20],"friendly":[21],"to":[22,59,74,89,116,136],"digital":[23],"devices":[24],"and":[25,71,97,130,141,147],"hardware":[26],"implementation.":[27],"Although":[28],"discrete":[29],"ZNN":[30],"(DZNN)":[31],"investigated":[34],"other":[36],"tasks,":[37],"all":[38],"the":[39,51,91,99,118,128,131,138],"existing":[40],"DZNNs":[41],"are":[42],"designed":[43],"with":[44,65],"fixed":[45],"time":[46,69],"steps,":[47],"which":[48],"cannot":[49],"meet":[50],"needs":[52],"different":[54],"tasks.":[55],"This":[56],"motivates":[57],"us":[58],"develop":[60],"a":[61,83,104],"generic":[62],"DZNN":[63],"model":[64],"variable":[66],"number":[67],"steps":[70],"apply":[72],"it":[73],"control.":[77],"In":[78],"this":[79],"article,":[80],"we":[81,126],"present":[82],"data-driven":[84],"scheme":[85,120],"based":[86],"on":[87],"CZNNs":[88],"learn":[90],"unknown":[92],"kinematics":[93],"robots":[96],"solve":[98],"kinematic":[100],"problem.":[102],"Furthermore,":[103],"unified":[105],"<inline-formula":[106],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[107],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[108],"notation=\"LaTeX\">$m$</tex-math></inline-formula>":[109],"-step":[110],"forward":[111],"discretization":[112,139],"formula":[113],"derived":[115],"discretize":[117],"CZNN-based":[119],"into":[121],"DZNN-based":[122],"algorithms.":[124],"Finally,":[125],"take":[127],"1-step":[129],"3-step":[132],"algorithms":[133],"as":[134],"examples":[135],"show":[137],"process,":[140],"verify":[142],"their":[143],"efficacy":[144],"by":[145],"simulations":[146],"experiments.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":6}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}