{"id":"https://openalex.org/W4386702722","doi":"https://doi.org/10.1109/tnnls.2023.3310744","title":"Predefined-Time Convergent Kinematic Control of Robotic Manipulators With Unknown Models Based on Hybrid Neural Dynamics and Human Behaviors","display_name":"Predefined-Time Convergent Kinematic Control of Robotic Manipulators With Unknown Models Based on Hybrid Neural Dynamics and Human Behaviors","publication_year":2023,"publication_date":"2023-09-13","ids":{"openalex":"https://openalex.org/W4386702722","doi":"https://doi.org/10.1109/tnnls.2023.3310744","pmid":"https://pubmed.ncbi.nlm.nih.gov/37703161"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2023.3310744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3310744","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/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020189974","display_name":"Peng Yu","orcid":"https://orcid.org/0000-0001-6310-514X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yu","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100741008"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":2.1667,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87599221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"12","first_page":"18026","last_page":"18038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9937000274658203,"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":0.9937000274658203,"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":0.9732999801635742,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9557999968528748,"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/kinematics","display_name":"Kinematics","score":0.732475757598877},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6918451189994812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6388942003250122},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5499694347381592},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5362946391105652},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.43271034955978394},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4268397092819214},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4162874221801758},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40539127588272095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3507518768310547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24306806921958923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2060028612613678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1685616374015808},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13331502676010132},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07743969559669495}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.732475757598877},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6918451189994812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6388942003250122},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5499694347381592},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5362946391105652},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.43271034955978394},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4268397092819214},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4162874221801758},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40539127588272095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3507518768310547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24306806921958923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2060028612613678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1685616374015808},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13331502676010132},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07743969559669495},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001519","descriptor_name":"Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001519","descriptor_name":"Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007221","descriptor_name":"Industry","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007221","descriptor_name":"Industry","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007221","descriptor_name":"Industry","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2023.3310744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3310744","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:37703161","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37703161","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/G1158256415","display_name":null,"funder_award_id":"62173352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2320314018","display_name":null,"funder_award_id":"2021A1515012314","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1866582758","https://openalex.org/W1966132983","https://openalex.org/W1977240978","https://openalex.org/W1988994102","https://openalex.org/W2010194391","https://openalex.org/W2013635942","https://openalex.org/W2014545454","https://openalex.org/W2050365205","https://openalex.org/W2075929513","https://openalex.org/W2093738064","https://openalex.org/W2095442103","https://openalex.org/W2134098780","https://openalex.org/W2138594241","https://openalex.org/W2185796675","https://openalex.org/W2343067029","https://openalex.org/W2485992890","https://openalex.org/W2502651175","https://openalex.org/W2526749720","https://openalex.org/W2609869589","https://openalex.org/W2696256157","https://openalex.org/W2765094417","https://openalex.org/W2781841050","https://openalex.org/W2782862780","https://openalex.org/W2787504052","https://openalex.org/W2789246897","https://openalex.org/W2887191391","https://openalex.org/W2898248625","https://openalex.org/W2923148700","https://openalex.org/W2946314455","https://openalex.org/W2969389620","https://openalex.org/W2993747173","https://openalex.org/W2994760360","https://openalex.org/W2996951424","https://openalex.org/W2999253907","https://openalex.org/W3008051049","https://openalex.org/W3034772363","https://openalex.org/W3041296001","https://openalex.org/W3120917290","https://openalex.org/W3124575662","https://openalex.org/W3125398343","https://openalex.org/W3128797186","https://openalex.org/W3128952567","https://openalex.org/W3155749896","https://openalex.org/W3165755637","https://openalex.org/W3169126409","https://openalex.org/W3185692593","https://openalex.org/W4246642857","https://openalex.org/W4255876299"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2119578520","https://openalex.org/W2018238589","https://openalex.org/W2145980196","https://openalex.org/W1984283682","https://openalex.org/W2235865024","https://openalex.org/W4240233348"],"abstract_inverted_index":{"This":[0,44],"article":[1],"proposes":[2],"a":[3,33,51,61,86,154,174],"model-free":[4,155],"kinematic":[5,120],"control":[6,141,150,165],"method":[7,166],"with":[8,14,117,176],"predefined-time":[9,18,63],"convergence":[10,19],"for":[11],"robotic":[12,30,123,151],"manipulators":[13,31,152],"unknown":[15,119],"models.":[16],"The":[17,98],"property":[20],"guarantees":[21],"that":[22],"the":[23,39,48,77,83,94,101,108,113,118,134,140,158,163,177],"regulation":[24,78],"task":[25],"can":[26],"be":[27],"finished":[28],"by":[29,169],"in":[32,36,55,153],"preset":[34],"time,":[35],"spite":[37],"of":[38,42,50,53,96,100,115,122,162],"initial":[40],"state":[41],"manipulators.":[43],"feature":[45],"will":[46],"facilitate":[47],"scheduling":[49],"series":[52],"tasks":[54],"industrial":[56],"applications.":[57],"To":[58],"this":[59],"end,":[60],"varying-parameter":[62],"convergent":[64],"zeroing":[65],"neural":[66,126],"dynamics":[67,127],"(ZND)":[68],"model":[69,89,121],"is":[70,90,104],"first":[71],"proposed":[72,102,164],"and":[73,143,160,171],"employed":[74],"to":[75,92,132,149],"solve":[76],"problem.":[79],"As":[80],"well":[81],"as":[82],"primary":[84],"task,":[85],"conventional":[87],"ZND":[88],"utilized":[91],"achieve":[93],"avoidance":[95],"obstacle.":[97],"stability":[99,110],"controller":[103],"analyzed":[105],"based":[106],"on":[107,139],"Lyapunov":[109],"theory.":[111],"For":[112],"sake":[114],"dealing":[116],"manipulators,":[124],"gradient":[125],"(GND)":[128],"models":[129],"are":[130,167],"exploited":[131],"adapt":[133],"Jacobian":[135],"matrices":[136],"just":[137],"relying":[138],"signal":[142],"sensory":[144],"output,":[145],"which":[146],"enables":[147],"us":[148],"manner.":[156],"Finally,":[157],"efficacy":[159],"merits":[161],"verified":[168],"simulations":[170],"experiments,":[172],"including":[173],"comparison":[175],"existing":[178],"method.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}