{"id":"https://openalex.org/W2980384550","doi":"https://doi.org/10.1109/ecmr.2019.8870911","title":"An Integral-Model Predictive Controller with Finite Memory for Trajectory Tracking","display_name":"An Integral-Model Predictive Controller with Finite Memory for Trajectory Tracking","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2980384550","doi":"https://doi.org/10.1109/ecmr.2019.8870911","mag":"2980384550"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2019.8870911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-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/A5045622074","display_name":"Can Ula\u015f Do\u011fruer","orcid":"https://orcid.org/0000-0001-8916-931X"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"C.U. Dogruer","raw_affiliation_strings":["Department of Mechanical Engineering, Hacettepe University, Ankara, Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hacettepe University, Ankara, Turkey","institution_ids":["https://openalex.org/I66514158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5045622074"],"corresponding_institution_ids":["https://openalex.org/I66514158"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49191008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.998199999332428,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9782999753952026,"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/model-predictive-control","display_name":"Model predictive control","score":0.8866571187973022},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8083390593528748},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7486953735351562},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6856087446212769},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6575830578804016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5864377021789551},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5320122241973877},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5209880471229553},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5186333060264587},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5141106247901917},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4390266239643097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3314818739891052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2744985818862915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17309972643852234}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8866571187973022},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8083390593528748},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7486953735351562},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6856087446212769},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6575830578804016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5864377021789551},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5320122241973877},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5209880471229553},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5186333060264587},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5141106247901917},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4390266239643097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3314818739891052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2744985818862915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17309972643852234},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2019.8870911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1493161114","https://openalex.org/W1539859753","https://openalex.org/W1576721254","https://openalex.org/W1972612935","https://openalex.org/W2001036189","https://openalex.org/W2009685984","https://openalex.org/W2024744649","https://openalex.org/W2036101221","https://openalex.org/W2111619300","https://openalex.org/W2116922901","https://openalex.org/W2153884484","https://openalex.org/W2172117433","https://openalex.org/W4210621539"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W2161688277"],"abstract_inverted_index":{"In":[0,38],"this":[1],"paper,":[2],"an":[3,91],"integral-model":[4],"predictive":[5,82,88],"control":[6,83,89],"(i-MPC)":[7],"scheme":[8,73],"with":[9,23,90],"finite-memory":[10],"was":[11,47],"proposed":[12],"to":[13,40,49],"track":[14],"a":[15,51,54,79,85],"time-varying":[16,62],"signal.":[17],"It":[18,57],"has":[19,58],"been":[20,59],"shown":[21,60],"that":[22,61,77],"the":[24,27,30,44,70],"use":[25],"of":[26,69,78],"so-called":[28,45,71],"i-MPC,":[29],"persistent":[31],"steady-state":[32],"error":[33],"can":[34],"be":[35],"made":[36],"smaller.":[37],"order":[39],"investigate":[41],"its":[42],"performance,":[43],"i-MPC":[46,72],"used":[48],"steer":[50],"robot":[52],"along":[53],"reference":[55],"path.":[56],"signal":[63],"tracking":[64],"performance":[65],"and":[66,84],"convergence":[67],"characteristics":[68],"is":[74],"better":[75],"than":[76],"regular":[80,86],"model":[81,87],"integral":[92],"action.":[93]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
