{"id":"https://openalex.org/W4398188127","doi":"https://doi.org/10.1109/tnnls.2024.3395767","title":"Two-Time Scale Tracking Control of Flexible Robots With Primal-Dual Inverse Reinforcement Learning","display_name":"Two-Time Scale Tracking Control of Flexible Robots With Primal-Dual Inverse Reinforcement Learning","publication_year":2024,"publication_date":"2024-05-21","ids":{"openalex":"https://openalex.org/W4398188127","doi":"https://doi.org/10.1109/tnnls.2024.3395767","pmid":"https://pubmed.ncbi.nlm.nih.gov/38771684"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2024.3395767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3395767","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/A5009380195","display_name":"Xuejie Que","orcid":"https://orcid.org/0000-0002-7145-8778"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuejie Que","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101906980","display_name":"Zhenlei Wang","orcid":"https://orcid.org/0000-0002-6300-9286"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenlei Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112109303","display_name":"Yanqi Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqi Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038010409","display_name":"Guanghao Su","orcid":"https://orcid.org/0000-0001-8731-0797"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghao Su","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Ministry of Education, State Key Laboratory of Industrial Control Technology and the Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009380195"],"corresponding_institution_ids":["https://openalex.org/I143593769"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68117482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"36","issue":"4","first_page":"6383","last_page":"6394"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9587000012397766,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9587000012397766,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9420999884605408,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9369999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7123476266860962},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6828383207321167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.662682831287384},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6614967584609985},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5784321427345276},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5212200880050659},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5000104904174805},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4974406063556671},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4833366572856903},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4778116047382355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4646781086921692},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.41544854640960693},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35307741165161133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29478663206100464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2656528949737549},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13765820860862732}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7123476266860962},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6828383207321167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.662682831287384},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6614967584609985},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5784321427345276},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5212200880050659},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5000104904174805},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4974406063556671},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4833366572856903},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4778116047382355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4646781086921692},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.41544854640960693},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35307741165161133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29478663206100464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2656528949737549},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13765820860862732},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2024.3395767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3395767","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:38771684","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38771684","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/G5333276369","display_name":null,"funder_award_id":"222202417006","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7355380096","display_name":null,"funder_award_id":"62293501","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8617124364","display_name":null,"funder_award_id":"62394345","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1995090200","https://openalex.org/W2750784048","https://openalex.org/W2903410452","https://openalex.org/W2973021624","https://openalex.org/W3004264390","https://openalex.org/W3085531353","https://openalex.org/W3094638344","https://openalex.org/W3116496379","https://openalex.org/W3128797186","https://openalex.org/W3134041421","https://openalex.org/W3159912953","https://openalex.org/W3195322794","https://openalex.org/W3200276130","https://openalex.org/W3203504876","https://openalex.org/W3207351513","https://openalex.org/W4200561738","https://openalex.org/W4200635426","https://openalex.org/W4205981124","https://openalex.org/W4213121944","https://openalex.org/W4221041364","https://openalex.org/W4223502737","https://openalex.org/W4225390809","https://openalex.org/W4233548378","https://openalex.org/W4250589301","https://openalex.org/W4280519122","https://openalex.org/W4280590612","https://openalex.org/W4283728528","https://openalex.org/W4283762798","https://openalex.org/W4283786226","https://openalex.org/W4283835015","https://openalex.org/W4290991295","https://openalex.org/W4294691695","https://openalex.org/W4294891511","https://openalex.org/W4312271987","https://openalex.org/W4313423377","https://openalex.org/W4319990642","https://openalex.org/W4320018459","https://openalex.org/W4361801464","https://openalex.org/W4382365399","https://openalex.org/W4383220175","https://openalex.org/W4384915816","https://openalex.org/W4386699412","https://openalex.org/W4387885650","https://openalex.org/W4388505150","https://openalex.org/W4390659497","https://openalex.org/W6754297394"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2039870829"],"abstract_inverted_index":{"Flexible":[0],"robots":[1],"(FRs)":[2],"are":[3,103,134],"generally":[4],"designed":[5],"to":[6,9,43,61,84,109,121],"be":[7],"lightweight":[8],"achieve":[10,85],"rapid":[11],"motion.":[12],"However,":[13],"accompanying":[14],"vibrations":[15],"and":[16,81,91,132,139,144],"modeling":[17],"errors":[18],"influence":[19],"tracking":[20,45,89],"control,":[21],"especially":[22],"in":[23,88],"situations":[24],"involving":[25],"reference":[26,49],"signal":[27],"loss.":[28],"This":[29],"article":[30],"develops":[31],"a":[32,57,86],"two-time":[33],"scale":[34],"primal-dual":[35],"inverse":[36],"reinforcement":[37],"learning":[38],"(PD-IRL)":[39],"framework":[40],"for":[41],"FRs":[42,70,102],"perform":[44],"tasks":[46],"with":[47],"incomplete":[48],"signals.":[50],"First,":[51],"consider":[52],"the":[53,63,67,72,95,111,123,142,147],"admissible":[54],"policy":[55],"as":[56],"nonconvex":[58,98],"input":[59],"constraint":[60],"guarantee":[62],"stable":[64],"operation":[65],"of":[66,75,101,146],"equipment.":[68],"Then,":[69],"imitate":[71],"demonstration":[73],"behaviors":[74],"an":[76],"expert,":[77],"including":[78],"both":[79],"rigid":[80],"flexible":[82],"motions,":[83],"balance":[87],"speed":[90],"vibration":[92],"suppression.":[93],"During":[94],"imitation":[96],"process,":[97],"optimization":[99],"problems":[100,108],"transformed":[104],"into":[105],"corresponding":[106],"dual":[107],"obtain":[110],"global":[112],"optimal":[113],"policy.":[114],"Moreover,":[115],"employing":[116],"multiple":[117],"linearly":[118],"independent":[119],"paths":[120],"explore":[122],"state":[124],"space":[125],"simultaneously":[126],"can":[127],"improve":[128],"convergence":[129],"speed.":[130],"Convergence":[131],"stability":[133],"studied":[135],"rigorously.":[136],"Finally,":[137],"simulations":[138],"comparisons":[140],"show":[141],"effectiveness":[143],"superiority":[145],"proposed":[148],"method.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
