{"id":"https://openalex.org/W2804158892","doi":"https://doi.org/10.1109/tsmc.2018.2819191","title":"Adaptive Partial Reinforcement Learning Neural Network-Based Tracking Control for Wheeled Mobile Robotic Systems","display_name":"Adaptive Partial Reinforcement Learning Neural Network-Based Tracking Control for Wheeled Mobile Robotic Systems","publication_year":2018,"publication_date":"2018-05-24","ids":{"openalex":"https://openalex.org/W2804158892","doi":"https://doi.org/10.1109/tsmc.2018.2819191","mag":"2804158892"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2018.2819191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2819191","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: 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/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"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":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-8351-5178","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100627709","display_name":"Shu Li","orcid":"https://orcid.org/0000-0002-5828-3010"},"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":"Shu Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5828-3010","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"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":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058804269","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0001-6897-2998"},"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":"Chao Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"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":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":11.5482,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.98931083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"50","issue":"7","first_page":"2512","last_page":"2523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955000281333923,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7713942527770996},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6998152732849121},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6888816356658936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871074199676514},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5579668879508972},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5497924089431763},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5376424193382263},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5210134983062744},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5176061391830444},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.48498034477233887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45372888445854187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3755664527416229},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3224338889122009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25893840193748474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1976344883441925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17340517044067383},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0774354338645935}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7713942527770996},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6998152732849121},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6888816356658936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871074199676514},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5579668879508972},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5497924089431763},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5376424193382263},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5210134983062744},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5176061391830444},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.48498034477233887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45372888445854187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3755664527416229},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3224338889122009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25893840193748474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1976344883441925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17340517044067383},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0774354338645935},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2018.2819191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2819191","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1567316596","display_name":null,"funder_award_id":"SKLRS20164B","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G387971928","display_name":null,"funder_award_id":"B07018","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G5383534787","display_name":null,"funder_award_id":"51521003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7134187959","display_name":"\u677e\u8f6f\u5d0e\u5c96\u5730\u5f62\u4e2d\u57fa\u4e8e\u591a\u7269\u7406\u6a21\u578b\u7684\u975e\u5b8c\u6574\u8f6e\u5f0f\u661f\u7403\u8f66\u79fb\u52a8\u63a7\u5236\u7814\u7a76","funder_award_id":"61370033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7279127281","display_name":null,"funder_award_id":"2013CB035502","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","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":46,"referenced_works":["https://openalex.org/W28791017","https://openalex.org/W1969665018","https://openalex.org/W1970299051","https://openalex.org/W1977295306","https://openalex.org/W1986024064","https://openalex.org/W2002260889","https://openalex.org/W2017718498","https://openalex.org/W2027792095","https://openalex.org/W2033322198","https://openalex.org/W2035597719","https://openalex.org/W2036281002","https://openalex.org/W2038634204","https://openalex.org/W2061713759","https://openalex.org/W2069612046","https://openalex.org/W2086684929","https://openalex.org/W2089684487","https://openalex.org/W2089904313","https://openalex.org/W2090429571","https://openalex.org/W2090564399","https://openalex.org/W2093535548","https://openalex.org/W2101343911","https://openalex.org/W2105402422","https://openalex.org/W2107674817","https://openalex.org/W2112677235","https://openalex.org/W2127516259","https://openalex.org/W2151435677","https://openalex.org/W2166184893","https://openalex.org/W2168010468","https://openalex.org/W2203022174","https://openalex.org/W2253274025","https://openalex.org/W2321040822","https://openalex.org/W2364918774","https://openalex.org/W2489526136","https://openalex.org/W2521872058","https://openalex.org/W2525973954","https://openalex.org/W2536318021","https://openalex.org/W2560370148","https://openalex.org/W2563423315","https://openalex.org/W2591999327","https://openalex.org/W2596784518","https://openalex.org/W2613446563","https://openalex.org/W2752879615","https://openalex.org/W2754133402","https://openalex.org/W2765910425","https://openalex.org/W2770878849","https://openalex.org/W2788444134"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W1545539801","https://openalex.org/W2005085248","https://openalex.org/W3006614820","https://openalex.org/W4280596088","https://openalex.org/W2103496243","https://openalex.org/W2043000245","https://openalex.org/W1966075561","https://openalex.org/W2110713095","https://openalex.org/W2263258493"],"abstract_inverted_index":{"In":[0],"this":[1,35],"paper,":[2],"a":[3,7,37,148],"dynamic":[4],"model":[5],"of":[6,24,55,126,163],"wheeled":[8],"mobile":[9],"robotic":[10],"(WMR)":[11],"system":[12,132],"with":[13,28,34,88,136],"coupled":[14],"control":[15,27,60,68,75,87,166],"input":[16],"is":[17,46,62,65,157],"developed,":[18],"which":[19,80],"will":[20],"increase":[21],"the":[22,49,56,66,72,77,84,89,104,110,117,122,130,137,143,161,164],"complexity":[23],"its":[25],"tracking":[26,44,59,86,144],"time-varying":[29,90],"advance":[30,91],"angle.":[31,92],"To":[32],"deal":[33],"problem,":[36],"partial":[38],"reinforcement":[39],"learning":[40],"neural":[41,95],"network":[42,96],"(PRLNN)-based":[43],"algorithm":[45],"proposed":[47,165],"for":[48,103],"WMR":[50,78,85,131],"systems.":[51],"The":[52,93],"main":[53],"contributions":[54],"PRLNN":[57,73],"adaptive":[58,74,101],"method":[61,69],"that":[63],"it":[64],"first":[67],"to":[70,76,82,116,147,159],"introduce":[71],"system,":[79],"determines":[81],"solve":[83],"critic":[94],"(NN)":[97],"and":[98,142],"action":[99],"NN":[100],"laws":[102],"decoupled":[105],"controllers":[106],"are":[107],"designed":[108],"using":[109],"standard":[111],"gradient-based":[112],"adaptation":[113],"method.":[114],"According":[115],"Lyapunov":[118],"stability":[119],"analysis":[120],"theorem,":[121],"uniform":[123],"ultimate":[124],"boundedness":[125],"all":[127],"signals":[128],"in":[129],"can":[133],"be":[134],"guaranteed":[135],"design":[138],"parameters":[139],"chose":[140],"properly,":[141],"error":[145],"converge":[146],"small":[149],"compact":[150],"set":[151],"nearby":[152],"zero.":[153],"A":[154],"numerical":[155],"simulation":[156],"presented":[158],"verify":[160],"effectiveness":[162],"algorithm.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
