{"id":"https://openalex.org/W4414463423","doi":"https://doi.org/10.1109/tsmc.2025.3611946","title":"Trajectory Planning and High-Precision Motion Control of Excavators Based on Independent Metering Hydraulic Configuration","display_name":"Trajectory Planning and High-Precision Motion Control of Excavators Based on Independent Metering Hydraulic Configuration","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W4414463423","doi":"https://doi.org/10.1109/tsmc.2025.3611946"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3611946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3611946","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/A5031760023","display_name":"J.S. Chen","orcid":"https://orcid.org/0009-0005-2349-4175"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiang Chen","raw_affiliation_strings":["State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0005-2349-4175","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100824918","display_name":"Yujie Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Guo","raw_affiliation_strings":["State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0006-9684-8699","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101554600","display_name":"Xiangdong Kong","orcid":"https://orcid.org/0000-0001-6977-6059"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangdong Kong","raw_affiliation_strings":["State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6977-6059","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106482063","display_name":"Kelong Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kelong Xu","raw_affiliation_strings":["State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0007-7874-7971","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103058191","display_name":"Chao Ai","orcid":"https://orcid.org/0000-0001-6707-1565"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Ai","raw_affiliation_strings":["State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6707-1565","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":2.5491,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90381519,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"55","issue":"11","first_page":"8689","last_page":"8700"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9937999844551086,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9937999844551086,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14270","display_name":"Simulation and Modeling Applications","score":0.9455000162124634,"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/excavator","display_name":"Excavator","score":0.9416999816894531},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7592999935150146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.753600001335144},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6970999836921692},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6287000179290771},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.448199987411499},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4275999963283539},{"id":"https://openalex.org/keywords/metering-mode","display_name":"Metering mode","score":0.4156999886035919},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3986000120639801}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9416999816894531},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7592999935150146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.753600001335144},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6970999836921692},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6287000179290771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47360000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4733999967575073},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.448199987411499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4293000102043152},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4275999963283539},{"id":"https://openalex.org/C30905978","wikidata":"https://www.wikidata.org/wiki/Q815598","display_name":"Metering mode","level":2,"score":0.4156999886035919},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3986000120639801},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3359000086784363},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.3005000054836273},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.2720000147819519},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.26409998536109924}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3611946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3611946","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/G5475547334","display_name":null,"funder_award_id":"52475073","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1548067494","https://openalex.org/W1980908439","https://openalex.org/W2006380251","https://openalex.org/W2087311215","https://openalex.org/W2104916388","https://openalex.org/W2124834123","https://openalex.org/W2136766881","https://openalex.org/W2333860682","https://openalex.org/W2354936791","https://openalex.org/W2364918774","https://openalex.org/W2768566548","https://openalex.org/W2805116596","https://openalex.org/W2884854144","https://openalex.org/W2889087170","https://openalex.org/W2889300798","https://openalex.org/W2899053329","https://openalex.org/W2902393293","https://openalex.org/W2911875243","https://openalex.org/W2915008738","https://openalex.org/W2935797085","https://openalex.org/W2943412383","https://openalex.org/W3046330465","https://openalex.org/W3096647612","https://openalex.org/W3112111484","https://openalex.org/W3175313230","https://openalex.org/W3185643802","https://openalex.org/W4205940851","https://openalex.org/W4206149507","https://openalex.org/W4210513963","https://openalex.org/W4220752092","https://openalex.org/W4226151180","https://openalex.org/W4285197906","https://openalex.org/W4310675745","https://openalex.org/W4313272453","https://openalex.org/W4363672401","https://openalex.org/W4365446679","https://openalex.org/W4376253867","https://openalex.org/W4386609175","https://openalex.org/W4386820287","https://openalex.org/W4387350644","https://openalex.org/W4396982200"],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1],"investigates":[2],"the":[3,61,71,75,89,98,116,122,135,138,143,168,178,185,202,205],"trajectory":[4,40,55],"optimization":[5],"and":[6,23,88,120,164],"high-precision":[7],"motion":[8,24,29],"control":[9,30,118],"of":[10,137,140,153,204],"excavators":[11,67],"based":[12,35,56,96,108],"on":[13,36,57,97,109],"an":[14],"independent":[15,99],"metering":[16,100],"hydraulic":[17,101],"system.":[18,102],"Considering":[19],"both":[20],"operational":[21],"efficiency":[22],"smoothness,":[25],"we":[26],"propose":[27],"a":[28],"method":[31],"for":[32,125],"excavator":[33],"manipulators":[34],"time-energy-jerk":[37],"integrated":[38],"optimal":[39,73],"planning.":[41],"The":[42,84,103,127,161],"nondominated":[43],"sorting":[44],"genetic":[45],"algorithm":[46,49],"II":[47],"(NSGA-II)":[48],"is":[50,106,181],"used":[51,182],"to":[52,114,133,183,190,200],"optimize":[53],"interpolated":[54],"five-time":[58],"B-splines":[59],"in":[60,142,167],"joint":[62],"space.":[63],"To":[64],"ensure":[65],"that":[66,150],"can":[68],"accurately":[69],"execute":[70],"planned":[72],"trajectory,":[74],"corresponding":[76,128],"arms":[77],"must":[78],"be":[79],"controlled":[80],"with":[81],"high":[82],"precision.":[83],"oil":[85,90,186],"inlet":[86],"flow":[87,104],"return":[91,187],"pressure":[92,179,188],"controllers":[93],"are":[94,131,171,198],"designed":[95,107],"controller":[105,146,180],"time-logarithmic":[110],"barrier":[111],"Lyapunov":[112],"function":[113],"determine":[115],"virtual":[117],"rate":[119],"uses":[121],"Levant":[123],"filter":[124],"filtering.":[126],"error":[129],"transformations":[130],"employed":[132],"avoid":[134],"problem":[136],"explosion":[139],"complexity":[141],"traditional":[144],"backstepping":[145],"designs":[147],"while":[148],"ensuring":[149],"transient":[151],"behavior":[152],"system":[154,170],"tracking":[155],"errors":[156],"remains":[157],"within":[158],"specified":[159],"boundaries.":[160],"uncertain":[162],"components":[163],"nonlinear":[165],"functions":[166],"manipulator":[169],"approximated":[172],"by":[173],"neural":[174],"network":[175],"(NN).":[176],"Additionally,":[177],"keep":[184],"low":[189],"reduce":[191],"system\u2019s":[192],"energy":[193],"consumption.":[194],"Finally,":[195],"comparative":[196],"simulations":[197],"conducted":[199],"verify":[201],"superiority":[203],"proposed":[206],"controller.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
