{"id":"https://openalex.org/W4412403738","doi":"https://doi.org/10.1109/tii.2025.3582398","title":"Joint Drift-Free Scheme Aided With Allowed Nonconvex Noise-Resistant Neural Networks for Repetitive Motion of Omnidirectional Mobile Manipulator","display_name":"Joint Drift-Free Scheme Aided With Allowed Nonconvex Noise-Resistant Neural Networks for Repetitive Motion of Omnidirectional Mobile Manipulator","publication_year":2025,"publication_date":"2025-07-14","ids":{"openalex":"https://openalex.org/W4412403738","doi":"https://doi.org/10.1109/tii.2025.3582398"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2025.3582398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3582398","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/A5112121177","display_name":"Shijun Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijun Tang","raw_affiliation_strings":["College of Communication Engineering, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Communication Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025165146","display_name":"Zhongbo Sun","orcid":"https://orcid.org/0000-0003-1287-2917"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongbo Sun","raw_affiliation_strings":["Department of Control Engineering, Changchun University of Technology, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-1287-2917","affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636321","display_name":"Yunfeng Hu","orcid":"https://orcid.org/0000-0003-4068-0664"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfeng Hu","raw_affiliation_strings":["College of Communication Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-4068-0664","affiliations":[{"raw_affiliation_string":"College of Communication Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101936035","display_name":"Xun Gong","orcid":"https://orcid.org/0000-0001-6391-721X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun Gong","raw_affiliation_strings":["School of Artificial Intelligence, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-6391-721X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085983625","display_name":"Chao Cheng","orcid":"https://orcid.org/0000-0001-5858-5193"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Changchun University of Technology, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-5858-5193","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Changchun University of Technology, Changchun, China","institution_ids":["https://openalex.org/I4385474403"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100703636","display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-5329-5098"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Jin","raw_affiliation_strings":["College of Electronic and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5329-5098","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9349,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76495967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"21","issue":"10","first_page":"8068","last_page":"8079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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":0.9962999820709229,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9940999746322632,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.992900013923645,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7995131015777588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5966119766235352},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5339200496673584},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4978609085083008},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4678210914134979},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4607686996459961},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3366393744945526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3266092538833618},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24925485253334045},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.16192549467086792},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1084846556186676}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7995131015777588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5966119766235352},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5339200496673584},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4978609085083008},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4678210914134979},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4607686996459961},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3366393744945526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3266092538833618},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24925485253334045},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.16192549467086792},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1084846556186676},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2025.3582398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3582398","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/G1162782305","display_name":null,"funder_award_id":"21ZY41","funder_id":"https://openalex.org/F4320336735","funder_display_name":"Changchun Science and Technology Planning Project"},{"id":"https://openalex.org/G3799681828","display_name":null,"funder_award_id":"62173048","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G758002597","display_name":null,"funder_award_id":"62106023","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/F4320336735","display_name":"Changchun Science and Technology Planning Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1973446088","https://openalex.org/W1983931525","https://openalex.org/W2070721072","https://openalex.org/W2400049928","https://openalex.org/W2749442339","https://openalex.org/W2793217796","https://openalex.org/W2800384809","https://openalex.org/W2912788148","https://openalex.org/W2915278269","https://openalex.org/W2951294143","https://openalex.org/W2952499326","https://openalex.org/W3008038390","https://openalex.org/W3025177399","https://openalex.org/W3093499421","https://openalex.org/W3126119469","https://openalex.org/W3186941580","https://openalex.org/W3208499888","https://openalex.org/W3214827861","https://openalex.org/W4250589301","https://openalex.org/W4281759221","https://openalex.org/W4318953232","https://openalex.org/W4366957516","https://openalex.org/W4385252301","https://openalex.org/W4386736582","https://openalex.org/W4387987017","https://openalex.org/W4389331434","https://openalex.org/W4390905095","https://openalex.org/W4391876898","https://openalex.org/W4399568545","https://openalex.org/W4401387368","https://openalex.org/W4402041499","https://openalex.org/W4403420156","https://openalex.org/W4403759091"],"related_works":["https://openalex.org/W4211095314","https://openalex.org/W1991249326","https://openalex.org/W4214562868","https://openalex.org/W4379536980","https://openalex.org/W4289387930","https://openalex.org/W1972819412","https://openalex.org/W2126905924","https://openalex.org/W2281465300","https://openalex.org/W2123271278","https://openalex.org/W3205202509"],"abstract_inverted_index":{"The":[0,81],"joint":[1,29,52,64,67,86],"drift":[2,30,53],"problem":[3,115],"may":[4],"result":[5],"in":[6,21,37,47,58,151],"the":[7,25,34,41,63,85,93,98,109,113,142,152,160,165,170],"omnidirectional":[8],"mobile":[9],"manipulator":[10],"(OMM)":[11],"failing":[12],"to":[13,95,107],"perform":[14,97],"its":[15],"tasks":[16],"or":[17],"even":[18],"causing":[19],"damage":[20],"practical":[22],"applications.":[23],"However,":[24],"coefficients":[26],"for":[27,129],"eliminating":[28],"are":[31,173],"coupled":[32],"with":[33,72,134],"equation":[35],"constraints":[36],"Cartesian":[38,59],"space":[39],"under":[40],"existing":[42],"scheme,":[43],"which":[44,91,127],"theoretically":[45],"results":[46],"a":[48,66,130],"paradox":[49],"between":[50],"zero":[51,55],"and":[54,79,88,101,111,148,158,162],"positional":[56],"error":[57,74,87],"space.":[60],"To":[61],"address":[62],"drift,":[65],"drift-free":[68],"repetitive":[69,102],"motion":[70,103],"programme":[71],"position":[73,89],"feedback":[75],"(JDF-RMPPEF)":[76],"is":[77,125],"presented":[78],"analyzed.":[80],"JDF-RMPPEF":[82,114,166],"scheme":[83,167],"decouples":[84],"error,":[90],"enables":[92],"OMM":[94],"accurately":[96],"trajectory":[99],"tracking":[100],"tasks.":[104],"In":[105],"addition,":[106],"suppress":[108],"disturbances":[110],"solve":[112],"accurately,":[116],"an":[117],"allowed":[118],"nonconvex":[119,131],"noise-resistant":[120],"neural":[121],"network":[122],"(ANNRNN)":[123],"model":[124,144,172],"proposed,":[126],"allows":[128],"activation":[132],"function":[133],"noise":[135],"suppression":[136],"properties.":[137],"Theoretical":[138],"analysis":[139],"demonstrates":[140],"that":[141],"ANNRNN":[143,171],"exhibits":[145],"global":[146],"convergence":[147],"strong":[149],"robustness":[150],"presence":[153],"of":[154,164],"interference.":[155],"Through":[156],"examples":[157],"comparisons,":[159],"effectiveness":[161],"superiority":[163],"synthesized":[168],"by":[169],"validated.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
