{"id":"https://openalex.org/W4414110700","doi":"https://doi.org/10.1109/tsmc.2025.3605191","title":"A Unified Arbitrarily Predefined -Time Convergent Recurrent Neural Network for Motion Control of Redundant Robot Manipulators: A Unified Paradigm","display_name":"A Unified Arbitrarily Predefined -Time Convergent Recurrent Neural Network for Motion Control of Redundant Robot Manipulators: A Unified Paradigm","publication_year":2025,"publication_date":"2025-09-10","ids":{"openalex":"https://openalex.org/W4414110700","doi":"https://doi.org/10.1109/tsmc.2025.3605191"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3605191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3605191","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/A5113071047","display_name":"Boyu Zheng","orcid":"https://orcid.org/0000-0002-5228-6659"},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyu Zheng","raw_affiliation_strings":["School of Information Engineering, Nanchang University, Nanchang, China"],"raw_orcid":"https://orcid.org/0000-0002-5228-6659","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Nanchang University, Nanchang, China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100665304","display_name":"Chunquan Li","orcid":"https://orcid.org/0000-0002-5493-6379"},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunquan Li","raw_affiliation_strings":["School of Information Engineering, Nanchang University, Nanchang, China"],"raw_orcid":"https://orcid.org/0000-0002-5493-6379","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Nanchang University, Nanchang, China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yingnan Jiao","orcid":null},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingnan Jiao","raw_affiliation_strings":["School of Information Engineering, Nanchang University, Nanchang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Nanchang University, Nanchang, China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059983151","display_name":"Jingyi Fu","orcid":"https://orcid.org/0009-0004-5691-5952"},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyi Fu","raw_affiliation_strings":["School of Information Engineering, Nanchang University, Nanchang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Nanchang University, Nanchang, China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100388920","display_name":"Zhijun Zhang","orcid":"https://orcid.org/0000-0002-6859-3426"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Zhang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6859-3426","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100659849","display_name":"Peter Liu","orcid":"https://orcid.org/0000-0002-8703-6967"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. X. Liu","raw_affiliation_strings":["Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8703-6967","affiliations":[{"raw_affiliation_string":"Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.188,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94274655,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"55","issue":"11","first_page":"8443","last_page":"8454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9872999787330627,"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"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9872999787330627,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9714999794960022,"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":0.9642000198364258,"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/convergence","display_name":"Convergence (economics)","score":0.6342999935150146},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.6225000023841858},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5656999945640564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45019999146461487},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44609999656677246},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.41119998693466187},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4041000008583069},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3946000039577484},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.3792000114917755}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6499999761581421},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6342999935150146},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.6225000023841858},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5656999945640564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45019999146461487},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44609999656677246},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.41119998693466187},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3946000039577484},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.3792000114917755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3702000081539154},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35370001196861267},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.336899995803833},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32760000228881836},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.32249999046325684},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32010000944137573},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2939999997615814},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.272599995136261},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3605191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3605191","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/G1882512141","display_name":null,"funder_award_id":"20252BCE310031","funder_id":"https://openalex.org/F4320330214","funder_display_name":"Key Research and Development Program of Hunan Province of China"},{"id":"https://openalex.org/G2513121278","display_name":null,"funder_award_id":"62173176","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8574471868","display_name":null,"funder_award_id":"62573220","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/F4320330214","display_name":"Key Research and Development Program of Hunan Province of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1973446088","https://openalex.org/W2094206629","https://openalex.org/W2626801459","https://openalex.org/W2789246897","https://openalex.org/W2793464405","https://openalex.org/W2793953252","https://openalex.org/W2996951424","https://openalex.org/W3000524688","https://openalex.org/W3004818638","https://openalex.org/W3201305170","https://openalex.org/W4282918380","https://openalex.org/W4295832261","https://openalex.org/W4320005547","https://openalex.org/W4380078449","https://openalex.org/W4386536157","https://openalex.org/W4386824915","https://openalex.org/W4387385635","https://openalex.org/W4389257079","https://openalex.org/W4390873128","https://openalex.org/W4391341384","https://openalex.org/W4391892527","https://openalex.org/W4392449268","https://openalex.org/W4392980013","https://openalex.org/W4393631681","https://openalex.org/W4394726793","https://openalex.org/W4400187668","https://openalex.org/W4400877880","https://openalex.org/W4404479676","https://openalex.org/W4404627902","https://openalex.org/W4407450013","https://openalex.org/W4407827554"],"related_works":["https://openalex.org/W2214501612","https://openalex.org/W2044900919","https://openalex.org/W2673944387","https://openalex.org/W1576487518","https://openalex.org/W4253156269","https://openalex.org/W3217556520","https://openalex.org/W1980072851","https://openalex.org/W2371387152","https://openalex.org/W2023971465","https://openalex.org/W2161599466"],"abstract_inverted_index":{"In":[0],"general,":[1],"the":[2,98,118,128,177,190,198,231,238,243],"motion":[3,227],"control":[4,228],"problem":[5,42],"of":[6,51,100,176,193,242],"redundant":[7,157],"robot":[8],"manipulators":[9],"(RRMs)":[10],"can":[11,138],"be":[12,139],"transformed":[13],"into":[14],"a":[15,49,52,75,80,86,152,165],"constrained":[16,40],"time-varying":[17],"quadratic":[18],"programming":[19],"(TVQP)":[20],"problem.":[21],"Recently,":[22],"various":[23,101,194],"recurrent":[24],"neural":[25],"networks":[26],"(RNNs)":[27],"with":[28,114,220],"predefined":[29,143],"time":[30,137],"convergence":[31,136,210],"(PTC)":[32],"abilities":[33],"have":[34],"been":[35],"proposed":[36,199,244],"to":[37,55,105,164],"solve":[38],"this":[39,71],"TVQP":[41],"in":[43,168],"real-time.":[44],"However,":[45],"there":[46],"is":[47],"still":[48],"lack":[50],"unified":[53,76,107,200],"paradigm":[54,77,96],"guide":[56],"researchers":[57],"and":[58,141,149,173,212,225,233,240],"engineers":[59],"design":[60],"such":[61],"RNNs":[62,111,219],"more":[63,208],"effectively":[64,161],"based":[65],"on":[66,230],"specific":[67],"requirements.":[68],"To":[69],"bridge":[70],"gap,":[72],"we":[73],"propose":[74],"derived":[78],"from":[79],"novel":[81,153],"segmentation":[82],"evolution":[83],"formula":[84],"incorporating":[85],"special":[87],"<inline-formula":[88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[89,92],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[90],"notation=\"LaTeX\">$\\mathfrak{B}$</tex-math></inline-formula>\u2013<italic":[91],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Class</i>":[93],"function.":[94],"This":[95],"enables":[97],"construction":[99],"RNNs,":[102,117],"collectively":[103],"referred":[104],"as":[106],"arbitrarily":[108,129,140],"predefined-time":[109],"convergent":[110],"(U-APTC-RNNs).":[112],"Compared":[113],"most":[115],"existing":[116],"constructed":[119,178,196],"U-APTC-RNN":[120,179,206],"has":[121,127,207],"two":[122],"significant":[123],"advantages:":[124],"1)":[125],"it":[126],"PTC":[130,221],"(APTC)":[131],"ability,":[132],"meaning":[133],"its":[134],"actual":[135],"precisely":[142],"without":[144],"setting":[145],"other":[146,217],"model":[147],"parameters":[148],"2)":[150],"using":[151,197],"piecewise":[154],"computation":[155],"strategy,":[156],"nonlinear":[158],"calculations":[159],"are":[160,180],"minimized,":[162],"leading":[163],"notable":[166],"reduction":[167],"computational":[169,214],"costs.":[170],"The":[171],"stability":[172],"APTC":[174,191],"ability":[175],"demonstrated":[181],"through":[182],"detailed":[183],"theoretical":[184],"analysis.":[185],"Numerical":[186],"simulation":[187,224],"experiments":[188,203,229],"confirm":[189],"capabilities":[192],"U-APTC-RNNs":[195],"paradigm.":[201],"Comparative":[202],"show":[204],"that":[205],"competitive":[209],"performance":[211],"lower":[213],"cost":[215],"than":[216],"state-of-the-art":[218],"abilities.":[222],"Finally,":[223],"physical":[226],"Jaco":[232],"UR5":[234],"robotic":[235],"arms":[236],"demonstrate":[237],"superiority":[239],"practicality":[241],"U-APTC-RNN.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}