{"id":"https://openalex.org/W4403722228","doi":"https://doi.org/10.1109/tim.2024.3481544","title":"A Novel Data-Driven-Based Anti-Disturbance Fault-Tolerant Control Method With Application to Franka-Panda Robot","display_name":"A Novel Data-Driven-Based Anti-Disturbance Fault-Tolerant Control Method With Application to Franka-Panda Robot","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403722228","doi":"https://doi.org/10.1109/tim.2024.3481544"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3481544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3481544","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5050597920","display_name":"Zi-Yuan Dong","orcid":"https://orcid.org/0009-0008-8250-3600"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zi-Yuan Dong","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-8250-3600","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062400907","display_name":"Xinyi Yu","orcid":"https://orcid.org/0000-0001-8716-7687"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Xinyi","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8716-7687","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017422200","display_name":"Wei Yan","orcid":"https://orcid.org/0000-0002-9818-8034"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wei","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9818-8034","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018105722","display_name":"Libo Zhou","orcid":"https://orcid.org/0000-0002-4784-7378"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Zhou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4784-7378","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101893353","display_name":"Linlin Ou","orcid":"https://orcid.org/0000-0002-8589-9961"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Ou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8589-9961","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":1.4205,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82237843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.958299994468689,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.958299994468689,"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":0.941100001335144,"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/disturbance","display_name":"Disturbance (geology)","score":0.6379945278167725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.631869375705719},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5721529722213745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5707012414932251},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48306113481521606},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4652365744113922},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4295441210269928},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3996972441673279},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2950315475463867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20972579717636108},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.18578702211380005},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08280539512634277}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6379945278167725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.631869375705719},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5721529722213745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5707012414932251},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48306113481521606},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4652365744113922},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4295441210269928},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3996972441673279},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2950315475463867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20972579717636108},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.18578702211380005},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08280539512634277},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3481544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3481544","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G2049529062","display_name":null,"funder_award_id":"62373329","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3506390060","display_name":null,"funder_award_id":"62203392","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5510813649","display_name":null,"funder_award_id":"LBMHD24F030002","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1510598017","https://openalex.org/W2001947364","https://openalex.org/W2046169298","https://openalex.org/W2057798714","https://openalex.org/W2067030256","https://openalex.org/W2068202815","https://openalex.org/W2114767615","https://openalex.org/W2114847465","https://openalex.org/W2334750579","https://openalex.org/W2335647929","https://openalex.org/W2594353858","https://openalex.org/W2738226240","https://openalex.org/W2789897185","https://openalex.org/W2792294435","https://openalex.org/W2920850588","https://openalex.org/W2967831086","https://openalex.org/W2996185865","https://openalex.org/W3022714613","https://openalex.org/W3036407572","https://openalex.org/W3036816746","https://openalex.org/W3088612724","https://openalex.org/W3096211637","https://openalex.org/W3106093600","https://openalex.org/W3138369710","https://openalex.org/W3189958096","https://openalex.org/W3198854574","https://openalex.org/W4200341312","https://openalex.org/W4220733519","https://openalex.org/W4224944803","https://openalex.org/W4225663915","https://openalex.org/W4285202067","https://openalex.org/W4285411236","https://openalex.org/W4306173331","https://openalex.org/W4365420839","https://openalex.org/W4386702617","https://openalex.org/W4388758276","https://openalex.org/W4390187516","https://openalex.org/W4392405558"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Sensor":[0],"faults":[1],"have":[2,20],"always":[3],"been":[4],"an":[5,39,54,136],"essential":[6],"and":[7,36,135,158],"challenging":[8],"problem":[9,25],"in":[10,18,127],"data-driven":[11,74,99],"fault-tolerant":[12,42],"control":[13,43],"(DDFTC).":[14],"Nevertheless,":[15],"few":[16],"studies":[17],"DDFTC":[19,153],"simultaneously":[21],"considered":[22],"the":[23,30,65,70,73,80,92,95,106,116,121,129,139,143,146,151],"FTC":[24,66],"under":[26,76,105],"disturbance.":[27,78],"To":[28],"address":[29],"issue":[31],"with":[32,84,150],"both":[33],"measurement":[34,77],"noise":[35],"sensor":[37],"fault,":[38],"iterative":[40],"learning-based":[41],"(ILFTC)":[44],"strategy":[45],"is":[46,62,88,103],"presented":[47,147],"when":[48],"dynamics":[49],"are":[50],"completely":[51],"unknown.":[52],"First,":[53],"improved":[55],"data-based":[56],"unscented":[57],"Kalman":[58],"filter":[59],"(UKF)":[60],"mechanism":[61,87],"designed":[63,89],"for":[64,123],"scheme,":[67],"which":[68,114],"enhances":[69],"feasibility":[71],"of":[72,94,108,145],"approaches":[75],"Then,":[79],"adaptive":[81],"estimation":[82],"algorithm":[83],"a":[85,98,109],"switching":[86],"to":[90,138],"improve":[91],"flexibility":[93],"controller.":[96],"Furthermore,":[97],"fault":[100,130],"detection":[101,117,131],"method":[102],"constructed":[104],"framework":[107],"broad":[110],"learning":[111],"system":[112],"(BLS),":[113],"improves":[115],"accuracy":[118],"while":[119],"avoiding":[120],"need":[122],"precise":[124],"model":[125],"parameters":[126],"designing":[128],"observer.":[132],"Finally,":[133],"simulations":[134],"application":[137],"Franka-Panda":[140],"robot":[141],"demonstrate":[142],"superiority":[144],"algorithm.":[148],"Compared":[149],"existing":[152],"schemes,":[154],"smaller":[155],"tracking":[156],"errors":[157],"superior":[159],"data":[160],"signal-to-noise":[161],"ratio":[162],"(SNR)":[163],"can":[164],"be":[165],"obtained.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}