{"id":"https://openalex.org/W4408323807","doi":"https://doi.org/10.1109/tits.2025.3547322","title":"Disturbance Compensation-Based Deep Reinforcement Learning Control Strategy for Underactuated Overhead Crane Systems: Design and Experiments","display_name":"Disturbance Compensation-Based Deep Reinforcement Learning Control Strategy for Underactuated Overhead Crane Systems: Design and Experiments","publication_year":2025,"publication_date":"2025-03-11","ids":{"openalex":"https://openalex.org/W4408323807","doi":"https://doi.org/10.1109/tits.2025.3547322"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3547322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3547322","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5038251304","display_name":"Panlong Tan","orcid":"https://orcid.org/0000-0003-4415-5752"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Panlong Tan","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4415-5752","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396434","display_name":"Junjie Liu","orcid":"https://orcid.org/0000-0002-8827-1141"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Liu","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8827-1141","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025805718","display_name":"Mingwei Sun","orcid":"https://orcid.org/0000-0002-0974-6525"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwei Sun","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073105796","display_name":"Zengqiang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zengqiang Chen","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1415-4073","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038251304"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":5.0335,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95419262,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"4","first_page":"4380","last_page":"4390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13644","display_name":"Control Systems in Engineering","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9865999817848206,"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/underactuation","display_name":"Underactuation","score":0.8284411430358887},{"id":"https://openalex.org/keywords/overhead-crane","display_name":"Overhead crane","score":0.7753429412841797},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7126998901367188},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5293275117874146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5178778171539307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5077229738235474},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.500385046005249},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.485385537147522},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.44780078530311584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4057025909423828},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3939081132411957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2664707899093628},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06177070736885071}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8284411430358887},{"id":"https://openalex.org/C2779279789","wikidata":"https://www.wikidata.org/wiki/Q1060390","display_name":"Overhead crane","level":2,"score":0.7753429412841797},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7126998901367188},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5293275117874146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5178778171539307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5077229738235474},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.500385046005249},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.485385537147522},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.44780078530311584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4057025909423828},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3939081132411957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2664707899093628},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06177070736885071},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3547322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3547322","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1394794069","display_name":null,"funder_award_id":"62203331","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3958990395","display_name":null,"funder_award_id":"62073177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G419115082","display_name":null,"funder_award_id":"19JCZDJC32800","funder_id":"https://openalex.org/F4320335956","funder_display_name":"Key Technologies Research and Development Program of Guangzhou"},{"id":"https://openalex.org/G6033413095","display_name":null,"funder_award_id":"61973175","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6074288601","display_name":null,"funder_award_id":"19JCZDJC32800","funder_id":"https://openalex.org/F4320335774","funder_display_name":"Key Technologies Research and Development Program"},{"id":"https://openalex.org/G6803193486","display_name":null,"funder_award_id":"62103204","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/F4320335774","display_name":"Key Technologies Research and Development Program","ror":null},{"id":"https://openalex.org/F4320335956","display_name":"Key Technologies Research and Development Program of Guangzhou","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1516127453","https://openalex.org/W2031109456","https://openalex.org/W2040991338","https://openalex.org/W2042637117","https://openalex.org/W2062156458","https://openalex.org/W2088238695","https://openalex.org/W2097696157","https://openalex.org/W2105149502","https://openalex.org/W2135493101","https://openalex.org/W2145581562","https://openalex.org/W2157837338","https://openalex.org/W2165726932","https://openalex.org/W2171769381","https://openalex.org/W2230652337","https://openalex.org/W2238865506","https://openalex.org/W2582616844","https://openalex.org/W2605924076","https://openalex.org/W2774553335","https://openalex.org/W2790355505","https://openalex.org/W2897661175","https://openalex.org/W2901112449","https://openalex.org/W2910296655","https://openalex.org/W2944575527","https://openalex.org/W2955451248","https://openalex.org/W3000678188","https://openalex.org/W3004497009","https://openalex.org/W3012509670","https://openalex.org/W3034648949","https://openalex.org/W3044015199","https://openalex.org/W3090027660","https://openalex.org/W3100789280","https://openalex.org/W4214717370","https://openalex.org/W4296706044","https://openalex.org/W4388286312","https://openalex.org/W4389747855","https://openalex.org/W6637967152","https://openalex.org/W6684205842","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W3147756312","https://openalex.org/W3112982930","https://openalex.org/W2352209758","https://openalex.org/W2526030976","https://openalex.org/W1943136368","https://openalex.org/W2540077422","https://openalex.org/W3214862398","https://openalex.org/W2745168490","https://openalex.org/W2782225896","https://openalex.org/W4323073659"],"abstract_inverted_index":{"Transportation":[0],"systems":[1],"often":[2],"exhibit":[3],"uncertainty,":[4],"dynamics,":[5],"and":[6,61,84,92,102,171,174,191],"nonlinearity,":[7],"making":[8],"them":[9],"highly":[10],"susceptible":[11],"to":[12,57,71,128,146,158,167,187],"perturbations.":[13],"Overhead":[14],"crane":[15,39,75],"systems,":[16,40],"being":[17],"a":[18,32,42,48,95,105,138],"crucial":[19],"mode":[20],"of":[21,140],"transportation,":[22],"find":[23],"wide":[24],"application":[25],"in":[26],"engineering":[27],"practice.":[28],"This":[29,98],"paper":[30],"proposes":[31],"compound":[33],"control":[34,164,169,182],"strategy":[35,183],"for":[36],"underactuated":[37,156],"overhead":[38,74],"combining":[41],"deep":[43,141],"reinforcement":[44,142],"learning":[45],"controller":[46,78],"with":[47,111,162,184],"novel":[49],"observer-based":[50],"disturbance":[51],"compensation":[52],"algorithm.":[53],"The":[54,151],"aim":[55],"is":[56,69,100,144],"suppress":[58],"model":[59,82],"uncertainties":[60,83],"external":[62,85],"disturbances.":[63,172],"Initially,":[64],"an":[65],"equivalent":[66],"state":[67,99,108,120],"variable":[68],"constructed":[70],"stabilize":[72],"the":[73,81,118,124,131,155,180],"system,":[76],"simplifying":[77],"design.":[79],"Subsequently,":[80],"disturbances":[86,91],"are":[87,177],"treated":[88],"as":[89,94],"generalized":[90],"incorporated":[93],"new":[96],"state.":[97],"estimated":[101],"compensated":[103],"through":[104],"super-twisting":[106],"extended":[107],"observer":[109,121],"(STESO)":[110],"finite-time":[112],"convergence.":[113],"Lyapunov-based":[114],"analysis":[115],"demonstrates":[116],"that":[117],"established":[119],"can":[122],"reduce":[123],"residual":[125],"estimate":[126],"error":[127],"zero.":[129],"Moreover,":[130],"Deep":[132],"Deterministic":[133],"Policy":[134],"Gradient":[135],"(DDPG)":[136],"algorithm,":[137],"form":[139],"learning,":[143],"employed":[145],"effectively":[147],"eliminate":[148],"tracking":[149],"errors.":[150],"proposed":[152,181],"scheme":[153],"enables":[154],"system":[157],"achieve":[159],"satisfactory":[160],"performance,":[161],"adaptive":[163],"effort":[165],"suited":[166],"different":[168],"states":[170],"Simulation":[173],"hardware":[175],"experiments":[176],"conducted,":[178],"comparing":[179],"traditional":[185],"methods,":[186],"illustrate":[188],"its":[189],"effectiveness":[190],"robustness.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}