{"id":"https://openalex.org/W3036046880","doi":"https://doi.org/10.1109/tsmc.2020.2998485","title":"Terminal Recurrent Neural Networks for Time-Varying Reciprocal Solving With Application to Trajectory Planning of Redundant Manipulators","display_name":"Terminal Recurrent Neural Networks for Time-Varying Reciprocal Solving With Application to Trajectory Planning of Redundant Manipulators","publication_year":2020,"publication_date":"2020-06-17","ids":{"openalex":"https://openalex.org/W3036046880","doi":"https://doi.org/10.1109/tsmc.2020.2998485","mag":"3036046880"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2020.2998485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2020.2998485","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/A5058242502","display_name":"Ying Kong","orcid":"https://orcid.org/0000-0002-3738-0057"},"institutions":[{"id":"https://openalex.org/I168879160","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/05mx0wr29","country_code":"CN","type":"education","lineage":["https://openalex.org/I168879160"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Kong","raw_affiliation_strings":["Department of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, China","institution_ids":["https://openalex.org/I168879160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066982002","display_name":"Yunliang Jiang","orcid":"https://orcid.org/0000-0003-4500-5836"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunliang Jiang","raw_affiliation_strings":["School of Information Engineering, Huzhou University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Huzhou University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087635803","display_name":"Xiaoyun Xia","orcid":"https://orcid.org/0000-0001-7922-3343"},"institutions":[{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyun Xia","raw_affiliation_strings":["College of Mathematics, Physics and Information Engineering, Jiaxing University, Jiaxing, China"],"affiliations":[{"raw_affiliation_string":"College of Mathematics, Physics and Information Engineering, Jiaxing University, Jiaxing, China","institution_ids":["https://openalex.org/I4210092870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058242502"],"corresponding_institution_ids":["https://openalex.org/I168879160"],"apc_list":null,"apc_paid":null,"fwci":1.0388,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.76173922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"52","issue":"1","first_page":"387","last_page":"399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9933000206947327,"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":0.9932000041007996,"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/recurrent-neural-network","display_name":"Recurrent neural network","score":0.644257664680481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209411025047302},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6182183027267456},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5458288192749023},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.5392042994499207},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49792909622192383},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48981592059135437},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.48264580965042114},{"id":"https://openalex.org/keywords/activation-function","display_name":"Activation function","score":0.46465983986854553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42580902576446533},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4230320155620575},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4182606041431427},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3378005921840668},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3064437508583069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16280722618103027}],"concepts":[{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.644257664680481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209411025047302},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6182183027267456},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5458288192749023},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.5392042994499207},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49792909622192383},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48981592059135437},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.48264580965042114},{"id":"https://openalex.org/C38365724","wikidata":"https://www.wikidata.org/wiki/Q4677469","display_name":"Activation function","level":3,"score":0.46465983986854553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42580902576446533},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4230320155620575},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4182606041431427},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3378005921840668},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3064437508583069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16280722618103027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2020.2998485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2020.2998485","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":[{"display_name":"Sustainable cities and communities","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1017003645","display_name":null,"funder_award_id":"61972357","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1977859664","display_name":null,"funder_award_id":"LGG18F020011","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G5437659983","display_name":null,"funder_award_id":"61803338","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5873637306","display_name":null,"funder_award_id":"61672337","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6633791345","display_name":null,"funder_award_id":"61771193","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/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1223467140","https://openalex.org/W1829299842","https://openalex.org/W1964730156","https://openalex.org/W1965214787","https://openalex.org/W1973446088","https://openalex.org/W1983931525","https://openalex.org/W1985463596","https://openalex.org/W1987762518","https://openalex.org/W1994216106","https://openalex.org/W1997637758","https://openalex.org/W2013635942","https://openalex.org/W2033372923","https://openalex.org/W2034561078","https://openalex.org/W2034877773","https://openalex.org/W2048848526","https://openalex.org/W2053961820","https://openalex.org/W2057683690","https://openalex.org/W2073554986","https://openalex.org/W2081818185","https://openalex.org/W2089108971","https://openalex.org/W2093627685","https://openalex.org/W2110982202","https://openalex.org/W2130317597","https://openalex.org/W2158503284","https://openalex.org/W2193245008","https://openalex.org/W2344053498","https://openalex.org/W2390401404","https://openalex.org/W2467979783","https://openalex.org/W2493842963","https://openalex.org/W2526749720","https://openalex.org/W2591194352","https://openalex.org/W2746282094","https://openalex.org/W2767834527","https://openalex.org/W2782747529","https://openalex.org/W2793464405","https://openalex.org/W2801870674","https://openalex.org/W2803759966","https://openalex.org/W2888103493","https://openalex.org/W2888239715","https://openalex.org/W2910944446","https://openalex.org/W2968196960"],"related_works":["https://openalex.org/W2391753177","https://openalex.org/W2996284460","https://openalex.org/W4298337043","https://openalex.org/W1966306316","https://openalex.org/W4285058191","https://openalex.org/W3110577345","https://openalex.org/W2052414331","https://openalex.org/W3003660440","https://openalex.org/W2028403663","https://openalex.org/W4225394202"],"abstract_inverted_index":{"Time-varying":[0],"matrix":[1,9,64,121],"reciprocal":[2,127,152],"problems":[3,182],"are":[4,32,75,85,135],"widely":[5],"appeared":[6],"in":[7,88],"different":[8],"computations":[10],"and":[11,42,84,97,107,140,161,206],"engineering":[12,90],"fields.":[13,91],"Neural":[14],"networks":[15,30,74],"as":[16],"a":[17,142,165],"powerful":[18],"tool":[19],"have":[20],"been":[21],"developed":[22],"to":[23,55,130,177],"solve":[24,178],"the":[25,50,69,101,131,155,179,185,190,197,204,209],"time-varying":[26,63,126,151],"problems.":[27],"Recurrent":[28],"neural":[29,52,73],"(RNNs)":[31],"designed":[33,118],"considering":[34,184],"mainly":[35],"for":[36,62,119,125,150],"two":[37],"aspects:":[38],"1)":[39],"convergent":[40,44,82],"precision":[41],"2)":[43],"time.":[45],"The":[46,147],"core":[47],"part":[48],"of":[49,59,68,72,103,136,169,189,196,208],"existed":[51],"methods":[53],"is":[54,115,175],"design":[56],"various":[57],"kinds":[58],"activation":[60,70,138],"function":[61,139],"solving.":[65],"However,":[66],"most":[67],"functions":[71],"with":[76,111],"infinite":[77],"value,":[78],"which":[79,114],"demands":[80],"long":[81],"time":[83,144],"not":[86,116],"applicable":[87],"practical":[89,194],"This":[92],"note":[93],"proposes":[94],"theoretical":[95],"analyses":[96],"simulation":[98,148],"results":[99,149],"on":[100,173,201],"performance":[102,157],"terminal":[104],"RNN":[105],"(TRNN)":[106],"accelerated":[108],"TRNN":[109,160,174],"(ATRNN)":[110],"finite-time":[112],"convergence,":[113],"only":[117],"constant":[120],"inversions":[122],"but":[123],"also":[124],"matrix.":[128],"Compared":[129],"traditional":[132],"RNNs,":[133],"TRNNs":[134],"limit-valued":[137],"possess":[141],"finite":[143],"convergence":[145],"property.":[146],"solving":[153],"validate":[154],"perfect":[156],"solved":[158],"by":[159],"ATRNN.":[162],"In":[163],"addition,":[164],"quadratic":[166],"program":[167],"(QP)":[168],"velocity":[170],"minimization":[171],"based":[172,200],"proposed":[176,210],"trajectory":[180],"tracking":[181],"without":[183],"initial":[186],"position":[187],"error":[188],"redundant":[191,198],"manipulators.":[192],"Finally,":[193],"experiments":[195],"manipulators":[199],"PUMA560":[202],"show":[203],"effectiveness":[205],"accuracy":[207],"approaches.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}
