{"id":"https://openalex.org/W2895247302","doi":"https://doi.org/10.1155/2018/9720309","title":"Model\u2010Free Composite Control of Flexible Manipulators Based on Adaptive Dynamic Programming","display_name":"Model\u2010Free Composite Control of Flexible Manipulators Based on Adaptive Dynamic Programming","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2895247302","doi":"https://doi.org/10.1155/2018/9720309","mag":"2895247302"},"language":"en","primary_location":{"id":"doi:10.1155/2018/9720309","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/9720309","pdf_url":"http://downloads.hindawi.com/journals/complexity/2018/9720309.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://downloads.hindawi.com/journals/complexity/2018/9720309.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055615832","display_name":"Chunyu Yang","orcid":"https://orcid.org/0000-0002-1590-1712"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunyu Yang","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058716760","display_name":"Yiming Xu","orcid":"https://orcid.org/0000-0002-2983-1751"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Xu","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102027008","display_name":"Linna Zhou","orcid":"https://orcid.org/0000-0003-2883-400X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linna Zhou","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101423060","display_name":"Yongzheng Sun","orcid":"https://orcid.org/0000-0002-7670-0199"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongzheng Sun","raw_affiliation_strings":["School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu 221116"],"affiliations":[{"raw_affiliation_string":"School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu 221116","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055615832"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":1.9236,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87960329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2018","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9973999857902527,"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":0.9973999857902527,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9616000056266785,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9459999799728394,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/control-theory","display_name":"Control theory (sociology)","score":0.8114317655563354},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6717822551727295},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6214630603790283},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6114957332611084},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5833463668823242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.560998260974884},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5235583186149597},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4502618908882141},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43076905608177185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3418850004673004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21649321913719177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20930233597755432},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17409932613372803},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11798438429832458},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11506274342536926}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8114317655563354},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6717822551727295},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6214630603790283},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6114957332611084},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5833463668823242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.560998260974884},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5235583186149597},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4502618908882141},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43076905608177185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3418850004673004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21649321913719177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20930233597755432},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17409932613372803},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11798438429832458},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11506274342536926},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2018/9720309","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/9720309","pdf_url":"http://downloads.hindawi.com/journals/complexity/2018/9720309.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:9720309","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/8503/2018/9720309.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:ca9fce2145bd4a1098e1ff7e3ce7bc31","is_oa":true,"landing_page_url":"https://doaj.org/article/ca9fce2145bd4a1098e1ff7e3ce7bc31","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2018 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2018/9720309","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/9720309","pdf_url":"http://downloads.hindawi.com/journals/complexity/2018/9720309.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7773244859","display_name":null,"funder_award_id":"2017XKQY 055","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8951484681","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2895247302.pdf","grobid_xml":"https://content.openalex.org/works/W2895247302.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1515224583","https://openalex.org/W1597554859","https://openalex.org/W1599132769","https://openalex.org/W1963746648","https://openalex.org/W1994615353","https://openalex.org/W1994922304","https://openalex.org/W2020739890","https://openalex.org/W2037025184","https://openalex.org/W2044498392","https://openalex.org/W2050838777","https://openalex.org/W2075548109","https://openalex.org/W2081144597","https://openalex.org/W2100861624","https://openalex.org/W2112511488","https://openalex.org/W2115384033","https://openalex.org/W2137994854","https://openalex.org/W2138139641","https://openalex.org/W2148439597","https://openalex.org/W2149374983","https://openalex.org/W2150549237","https://openalex.org/W2171504115","https://openalex.org/W2182136626","https://openalex.org/W2201855490","https://openalex.org/W2357182199","https://openalex.org/W2518601095","https://openalex.org/W2520432232","https://openalex.org/W2588379750","https://openalex.org/W2594476234","https://openalex.org/W2605603065","https://openalex.org/W2615101682","https://openalex.org/W2742423417","https://openalex.org/W2759657922","https://openalex.org/W2764267208","https://openalex.org/W2777247237","https://openalex.org/W2783089576","https://openalex.org/W2792251619","https://openalex.org/W2793912561","https://openalex.org/W2809566189","https://openalex.org/W3143404832","https://openalex.org/W7039817353"],"related_works":["https://openalex.org/W2055379029","https://openalex.org/W2011339542","https://openalex.org/W2387203662","https://openalex.org/W2995569247","https://openalex.org/W4327639758","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2623488306","https://openalex.org/W1971902905","https://openalex.org/W2006371715"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,17,21,28,42,75,93,101,104,117,120,124,127,130,136,141,144,150,158,163,172,186,191],"problems":[4],"of":[5,12,20,24,44,119,152,171,190],"tip":[6],"position":[7],"regulation":[8],"and":[9,56,66,97,123,154,188],"vibration":[10,128,145,153],"suppression":[11],"flexible":[13,25,46],"manipulators":[14],"without":[15],"using":[16,168],"model.":[18],"Because":[19],"two\u2010timescale":[22],"characteristics":[23],"manipulators,":[26],"applying":[27],"existing":[29],"model\u2010free":[30,68,83],"control":[31,85],"methods":[32],"may":[33],"lead":[34],"to":[35,73,184],"ill\u2010conditioned":[36,76],"numerical":[37,77],"problems.":[38,78],"In":[39,100,140],"this":[40],"paper,":[41],"dynamics":[43],"a":[45,67,82],"manipulator":[47],"is":[48,71,87,108,133,146,166,175],"decomposed":[49],"into":[50],"two":[51],"subsystems":[52],"which":[53,89,162],"are":[54,182],"linear":[55],"controllable":[57],"at":[58],"different":[59],"timescales":[60],"by":[61,110,135,161,177],"singular":[62],"perturbation":[63],"(SP)":[64],"theory":[65],"composite":[69,84],"controller":[70,94,107,165],"designed":[72,109,167],"alleviate":[74],"To":[79],"do":[80],"this,":[81],"strategy":[86],"constructed":[88],"facilitates":[90],"in":[91,95,129,157],"designing":[92],"slow":[96,102,105,121,131,159],"fast":[98,142,164],"timescales.":[99],"timescale,":[103,143,160],"subsystem":[106],"adaptive":[111],"dynamic":[112],"programming":[113],"(ADP)":[114],"based":[115,148],"on":[116,149],"measurements":[118,151],"inputs":[122],"position,":[125],"while":[126],"timescale":[132],"estimated":[134],"least":[137],"square":[138],"method.":[139],"reconstructed":[147],"its":[155],"estimate":[156],"ADP.":[169],"Stability":[170],"closed\u2010loop":[173],"system":[174],"proved":[176],"SP":[178],"theory.":[179],"Finally,":[180],"simulations":[181],"given":[183],"show":[185],"feasibility":[187],"effectiveness":[189],"proposed":[192],"methods.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
