{"id":"https://openalex.org/W2591999327","doi":"https://doi.org/10.1109/tnnls.2017.2665581","title":"Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning","display_name":"Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2591999327","doi":"https://doi.org/10.1109/tnnls.2017.2665581","mag":"2591999327","pmid":"https://pubmed.ncbi.nlm.nih.gov/28362618"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2017.2665581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2017.2665581","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8944-9861","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051661639","display_name":"Yiting Dong","orcid":"https://orcid.org/0000-0003-4018-4177"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiting Dong","raw_affiliation_strings":["Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-4018-4177","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":67.2537,"has_fulltext":false,"cited_by_count":638,"citation_normalized_percentile":{"value":0.99987481,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"29","issue":"4","first_page":"1174","last_page":"1186"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9922999739646912,"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/control-theory","display_name":"Control theory (sociology)","score":0.7258418798446655},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5950235724449158},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5546506643295288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440226793289185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5341377258300781},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5238780379295349},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.522689700126648},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.504829466342926},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.49869298934936523},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.48238030076026917},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4557175636291504},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4307026267051697},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40531954169273376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39589300751686096},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3085114359855652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2991405725479126},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23836281895637512},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11188822984695435}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7258418798446655},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5950235724449158},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5546506643295288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440226793289185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5341377258300781},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5238780379295349},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.522689700126648},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.504829466342926},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.49869298934936523},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.48238030076026917},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4557175636291504},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4307026267051697},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40531954169273376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39589300751686096},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3085114359855652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2991405725479126},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23836281895637512},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11188822984695435},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.1109/tnnls.2017.2665581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2017.2665581","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:28362618","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28362618","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6093090667","display_name":null,"funder_award_id":"2014CB744206","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6336918213","display_name":null,"funder_award_id":"4172041","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G8678354579","display_name":null,"funder_award_id":"61522302","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/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1517060199","https://openalex.org/W1587425810","https://openalex.org/W1965555825","https://openalex.org/W1968222391","https://openalex.org/W1970798520","https://openalex.org/W1972972294","https://openalex.org/W1976912497","https://openalex.org/W1986024064","https://openalex.org/W1995299431","https://openalex.org/W1996806390","https://openalex.org/W1998034343","https://openalex.org/W2010152647","https://openalex.org/W2013627932","https://openalex.org/W2017239762","https://openalex.org/W2021572715","https://openalex.org/W2031185015","https://openalex.org/W2038524744","https://openalex.org/W2038973120","https://openalex.org/W2048251595","https://openalex.org/W2048315518","https://openalex.org/W2049933349","https://openalex.org/W2055478070","https://openalex.org/W2057967659","https://openalex.org/W2062373349","https://openalex.org/W2065209922","https://openalex.org/W2065676327","https://openalex.org/W2073362510","https://openalex.org/W2074833352","https://openalex.org/W2080487795","https://openalex.org/W2089684487","https://openalex.org/W2089904313","https://openalex.org/W2107335022","https://openalex.org/W2113341204","https://openalex.org/W2122836694","https://openalex.org/W2142572589","https://openalex.org/W2156246393","https://openalex.org/W2160274398","https://openalex.org/W2164136313","https://openalex.org/W2170214056","https://openalex.org/W2253274025","https://openalex.org/W2295495433","https://openalex.org/W2296641122","https://openalex.org/W2316116347","https://openalex.org/W2330589301","https://openalex.org/W2337201388","https://openalex.org/W2340995602","https://openalex.org/W2344646155","https://openalex.org/W2345111710","https://openalex.org/W2364918774","https://openalex.org/W2380258564","https://openalex.org/W2390714945","https://openalex.org/W2411925479","https://openalex.org/W2418767125","https://openalex.org/W2462438590","https://openalex.org/W2489526136","https://openalex.org/W2503435921","https://openalex.org/W2507575723","https://openalex.org/W2509679272","https://openalex.org/W2514514867","https://openalex.org/W2520432232","https://openalex.org/W2521545034","https://openalex.org/W2521872058","https://openalex.org/W2522467183","https://openalex.org/W2529405793","https://openalex.org/W2560370148","https://openalex.org/W6666467358"],"related_works":["https://openalex.org/W1934622834","https://openalex.org/W2372856383","https://openalex.org/W2015036175","https://openalex.org/W2115512691","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2103496243","https://openalex.org/W2560479139","https://openalex.org/W2162992672"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"adaptive":[3],"fuzzy":[4,39,56],"neural":[5],"network":[6],"(NN)":[7],"control":[8],"using":[9],"impedance":[10,80,104],"learning":[11,41,81],"for":[12],"a":[13,73,99],"constrained":[14],"robot,":[15],"subject":[16],"to":[17,45,64,84,112,155],"unknown":[18],"system":[19,128],"dynamics,":[20],"the":[21,27,33,47,55,66,70,86,89,96,114,120,123,126,136,142,157,160],"effect":[22,115],"of":[23,54,76,116,125,144,159],"state":[24,117,145],"constraints,":[25],"and":[26,72,91,135,147],"uncertain":[28,48],"compliant":[29],"environment":[30],"with":[31],"which":[32],"robot":[34,90,97],"comes":[35],"into":[36],"contact.":[37],"A":[38,106],"NN":[40,57],"algorithm":[42],"is":[43,58,61,82,110,129,139],"developed":[44],"identify":[46],"plant":[49],"model.":[50],"The":[51],"prominent":[52],"feature":[53],"that":[59,95],"there":[60],"no":[62],"need":[63],"get":[65],"prior":[67],"knowledge":[68],"about":[69],"uncertainty":[71],"sufficient":[74],"amount":[75],"observed":[77],"data.":[78],"Also,":[79],"introduced":[83],"tackle":[85],"interaction":[87],"between":[88],"its":[92],"environment,":[93],"so":[94],"follows":[98],"desired":[100],"destination":[101],"generated":[102],"by":[103],"learning.":[105],"barrier":[107],"Lyapunov":[108],"function":[109],"used":[111],"address":[113],"constraints.":[118],"With":[119],"proposed":[121,161],"control,":[122],"stability":[124,133],"closed-loop":[127],"achieved":[130],"via":[131],"Lyapunov's":[132],"theory,":[134],"tracking":[137],"performance":[138],"guaranteed":[140],"under":[141],"condition":[143],"constraints":[146],"uncertainty.":[148],"Some":[149],"simulation":[150],"studies":[151],"are":[152],"carried":[153],"out":[154],"illustrate":[156],"effectiveness":[158],"scheme.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":46},{"year":2023,"cited_by_count":59},{"year":2022,"cited_by_count":55},{"year":2021,"cited_by_count":97},{"year":2020,"cited_by_count":140},{"year":2019,"cited_by_count":115},{"year":2018,"cited_by_count":47},{"year":2017,"cited_by_count":37}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}