{"id":"https://openalex.org/W4312973784","doi":"https://doi.org/10.1109/tii.2022.3215985","title":"Adaptive Neural Trajectory Tracking Control for n-DOF Robotic Manipulators With State Constraints","display_name":"Adaptive Neural Trajectory Tracking Control for n-DOF Robotic Manipulators With State Constraints","publication_year":2022,"publication_date":"2022-11-03","ids":{"openalex":"https://openalex.org/W4312973784","doi":"https://doi.org/10.1109/tii.2022.3215985"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2022.3215985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3215985","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/A5022490801","display_name":"Dan Bao","orcid":"https://orcid.org/0000-0001-6391-8589"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dan Bao","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083135580","display_name":"Xiaoling Liang","orcid":"https://orcid.org/0000-0001-6648-3373"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaoling Liang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuzhi Sam Ge","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038666366","display_name":"Baolin Hou","orcid":"https://orcid.org/0000-0001-7074-7853"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baolin Hou","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022490801"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":4.6184,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95433352,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"19","issue":"7","first_page":"8039","last_page":"8048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.996999979019165,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/control-theory","display_name":"Control theory (sociology)","score":0.8211018443107605},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6467264890670776},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6049569845199585},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5202949643135071},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5187828540802002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46777644753456116},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4241277873516083},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41610831022262573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3639755845069885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32886022329330444},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14837169647216797},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08635550737380981},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.060906410217285156}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8211018443107605},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6467264890670776},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6049569845199585},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5202949643135071},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5187828540802002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46777644753456116},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4241277873516083},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41610831022262573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3639755845069885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32886022329330444},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14837169647216797},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08635550737380981},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.060906410217285156},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2022.3215985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3215985","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G7052657794","display_name":null,"funder_award_id":"202006840070","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1968936982","https://openalex.org/W1990380686","https://openalex.org/W2062373349","https://openalex.org/W2107122393","https://openalex.org/W2333357315","https://openalex.org/W2565637463","https://openalex.org/W2611849294","https://openalex.org/W2765910425","https://openalex.org/W2766919050","https://openalex.org/W2808823341","https://openalex.org/W2810440679","https://openalex.org/W2872947583","https://openalex.org/W2921190699","https://openalex.org/W2923302867","https://openalex.org/W2995280841","https://openalex.org/W3002390938","https://openalex.org/W3002449551","https://openalex.org/W3003662551","https://openalex.org/W3005541763","https://openalex.org/W3007985585","https://openalex.org/W3008592045","https://openalex.org/W3026535550","https://openalex.org/W3039266130","https://openalex.org/W3044557322","https://openalex.org/W3101925693","https://openalex.org/W3124444594","https://openalex.org/W3174508330","https://openalex.org/W3178554613","https://openalex.org/W3192303798","https://openalex.org/W3193556422","https://openalex.org/W4210958148","https://openalex.org/W4226132969","https://openalex.org/W4248049034"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3],"adaptive":[4],"neural":[5,45],"trajectory":[6],"tracking":[7,98,111],"control":[8,31],"scheme":[9],"for":[10],"<italic":[11],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[12],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">n</i>":[13],"-DOF":[14],"robotic":[15,141],"manipulators":[16],"subjected":[17],"to":[18,36,50,55,65,95,145],"parameter":[19,56],"variations,":[20],"unknown":[21,59],"functions,":[22],"and":[23,58,71,91],"time-varying":[24],"external":[25],"disturbances.":[26],"First,":[27],"the":[28,38,52,68,82,87,106,125,147,150],"computed":[29],"torque":[30],"(CTC)":[32],"method":[33],"is":[34,62],"designed":[35],"reduce":[37],"system's":[39,108],"nonlinearity.":[40],"Second,":[41],"radial":[42],"basis":[43],"function":[44,103],"networks":[46],"(RBFNNs)":[47],"are":[48,73,93,143],"constructed":[49],"approximate":[51],"uncertainties":[53],"due":[54],"variations":[57],"functions.":[60],"It":[61],"also":[63],"important":[64],"note":[66],"that":[67],"RBFNN's":[69],"centers":[70],"widths":[72],"defined":[74],"by":[75],"state":[76,115],"constraints.":[77],"As":[78],"a":[79,122,137],"result":[80],"of":[81,124,127,139,149],"nonlinear":[83],"disturbance":[84],"observer":[85],"(NDO),":[86],"RBFNNs'":[88],"approximation":[89],"errors":[90],"disturbances":[92],"estimated":[94],"further":[96],"improve":[97],"performance.":[99],"The":[100],"barrier":[101],"Lyapunov":[102],"(BLF)":[104],"ensures":[105],"closed-loop":[107],"stability,":[109],"guaranteeing":[110],"performance":[112],"while":[113],"preventing":[114],"constraint":[116],"violation.":[117],"Furthermore,":[118],"sensitivity":[119],"analysis":[120],"provides":[121],"ranking":[123],"importance":[126],"design":[128],"parameters":[129],"in":[130],"influencing":[131],"dynamic":[132],"responses.":[133],"Finally,":[134],"simulations":[135],"on":[136],"seven-degrees":[138],"freedom":[140],"manipulator":[142],"performed":[144],"validate":[146],"effectiveness":[148],"proposed":[151],"method.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}