{"id":"https://openalex.org/W4389924526","doi":"https://doi.org/10.1109/tnnls.2023.3328643","title":"Robust Learning-Based Control for Uncertain Nonlinear Systems With Validation on a Soft Robot","display_name":"Robust Learning-Based Control for Uncertain Nonlinear Systems With Validation on a Soft Robot","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4389924526","doi":"https://doi.org/10.1109/tnnls.2023.3328643","pmid":"https://pubmed.ncbi.nlm.nih.gov/38109254"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2023.3328643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3328643","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/A5057269196","display_name":"Minghao Han","orcid":"https://orcid.org/0000-0002-2027-328X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghao Han","raw_affiliation_strings":["Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland","Department of Control Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2027-328X","affiliations":[{"raw_affiliation_string":"Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"Department of Control Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100590651","display_name":"Kiwan Wong","orcid":"https://orcid.org/0000-0002-5736-3465"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kiwan Wong","raw_affiliation_strings":["Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093527497","display_name":"Jacob Euler-Rolle","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jacob Euler-Rolle","raw_affiliation_strings":["Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003943487","display_name":"Lixian Zhang","orcid":"https://orcid.org/0000-0002-7948-6052"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lixian Zhang","raw_affiliation_strings":["Department of Control Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7948-6052","affiliations":[{"raw_affiliation_string":"Department of Control Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7143-7259","affiliations":[{"raw_affiliation_string":"Soft Robotics Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2881,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92625889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"36","issue":"1","first_page":"510","last_page":"524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9208999872207642,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10821","display_name":"Cardiovascular Function and Risk Factors","score":0.9054999947547913,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346989870071411},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6227906942367554},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5793622732162476},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.557612419128418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5414813160896301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48850739002227783},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.48768723011016846},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48107385635375977},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.479660302400589},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43570268154144287},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4301983118057251},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42503905296325684},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4080279469490051},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2912355363368988},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26508066058158875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17339476943016052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15358969569206238}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346989870071411},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6227906942367554},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5793622732162476},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.557612419128418},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5414813160896301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48850739002227783},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.48768723011016846},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48107385635375977},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.479660302400589},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43570268154144287},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4301983118057251},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42503905296325684},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4080279469490051},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2912355363368988},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26508066058158875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17339476943016052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15358969569206238},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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.2023.3328643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3328643","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:38109254","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38109254","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/G2136039464","display_name":null,"funder_award_id":"202006120085","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G2979337706","display_name":null,"funder_award_id":"62225305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7225490934","display_name":"\u9762\u5411\u81ea\u4e3b\u65e0\u4eba\u5e73\u53f0\u7684\u53d7\u9650\u5207\u6362\u7cfb\u7edf\u591a\u76ee\u6807\u4f18\u5316\u63a7\u5236\u7814\u7a76","funder_award_id":"12072088","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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W129305155","https://openalex.org/W1978956894","https://openalex.org/W1997054581","https://openalex.org/W2014356541","https://openalex.org/W2067610869","https://openalex.org/W2078898317","https://openalex.org/W2157302999","https://openalex.org/W2162977544","https://openalex.org/W2777417212","https://openalex.org/W2782435507","https://openalex.org/W2948567396","https://openalex.org/W2962872206","https://openalex.org/W2966077329","https://openalex.org/W3095804162","https://openalex.org/W3110084462","https://openalex.org/W3118303791","https://openalex.org/W3138075616","https://openalex.org/W3139269452","https://openalex.org/W4283717319","https://openalex.org/W4312204695","https://openalex.org/W6684921986","https://openalex.org/W6741940250","https://openalex.org/W6747473740","https://openalex.org/W6751494529","https://openalex.org/W6754162236","https://openalex.org/W6756256016","https://openalex.org/W6767081328","https://openalex.org/W6774600266","https://openalex.org/W6776444479","https://openalex.org/W6781895415","https://openalex.org/W6840084686","https://openalex.org/W6966178998"],"related_works":["https://openalex.org/W1529675490","https://openalex.org/W2774230986","https://openalex.org/W2049671005","https://openalex.org/W1585146120","https://openalex.org/W2041766398","https://openalex.org/W1507089487","https://openalex.org/W2164932890","https://openalex.org/W2104028924","https://openalex.org/W2348130481","https://openalex.org/W2466456104"],"abstract_inverted_index":{"Existing":[0],"modeling":[1],"and":[2,12,22,42,71,101,114,126,185,229],"control":[3,24,45,84,102,154,161,228],"methods":[4],"for":[5,26,75,91,116,231],"real-world":[6,165],"systems":[7,56,118,213],"typically":[8],"deal":[9],"with":[10,86],"uncertainty":[11,53,208],"nonlinearity":[13],"on":[14,163],"a":[15,20,59,81,145,164,215,222],"case-by-case":[16],"basis.":[17],"We":[18,78,131],"present":[19],"universal":[21],"robust":[23,43,48,70,113],"framework":[25,46,85,110,162,173],"the":[27,52,152,182,186],"general":[28],"class":[29],"of":[30,54,61,147,181],"uncertain":[31],"nonlinear":[32,212],"systems.":[33,77],"Our":[34,196],"data-driven":[35],"deep":[36,123],"stochastic":[37],"Koopman":[38,124],"operator":[39],"(DeSKO)":[40],"model":[41,82,183],"learning":[44,128,216],"guarantee":[47],"stability.":[49],"DeSKO":[50],"learns":[51],"dynamical":[55,76],"by":[57],"inferring":[58],"distribution":[60,65],"observables.":[62],"The":[63],"inferred":[64],"is":[66,111],"used":[67],"in":[68,104,202,214],"our":[69,108,134,159,172],"stabilizing":[72],"closed-loop":[73],"controller":[74,187],"also":[79],"develop":[80],"predictive":[83],"integral":[87],"action":[88],"to":[89,149,224],"compensate":[90],"run-time":[92],"parametric":[93],"uncertainty,":[94],"such":[95,140],"as":[96,141,221],"manipulating":[97],"unknown":[98],"objects.":[99],"Modeling":[100],"experiments":[103],"simulation":[105],"show":[106],"that":[107,133,171,177],"presented":[109],"more":[112],"scalable":[115],"robotic":[117,167],"than":[119],"state-of-the-art":[120],"controllers":[121,176],"using":[122],"operators":[125],"reinforcement":[127],"(RL)":[129],"methods.":[130],"demonstrate":[132],"method":[135],"resists":[136],"previously":[137],"unseen":[138],"uncertainties,":[139],"external":[142,207],"disturbances,":[143],"at":[144],"magnitude":[146],"up":[148,199],"five":[150],"times":[151],"maximum":[153],"input.":[155],"Furthermore,":[156],"we":[157],"test":[158],"DeSKO-based":[160],"soft":[166],"arm.":[168],"It":[169],"shows":[170],"outperforms":[174],"model-based":[175],"have":[178],"full":[179],"knowledge":[180],"parameters,":[184],"can":[188],"conduct":[189],"object":[190],"pick-and-place":[191],"tasks":[192],"without":[193],"further":[194],"training.":[195],"approach":[197,219],"opens":[198],"new":[200],"possibilities":[201],"robustly":[203],"managing":[204],"internal":[205],"or":[206],"while":[209],"controlling":[210],"high-dimensional":[211],"framework.":[217],"This":[218],"serves":[220],"foundation":[223],"greatly":[225],"simplify":[226],"high-level":[227],"decision-making":[230],"robots.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":6}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}