{"id":"https://openalex.org/W3094086980","doi":"https://doi.org/10.23919/acc50511.2021.9482629","title":"Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System","display_name":"Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3094086980","doi":"https://doi.org/10.23919/acc50511.2021.9482629","mag":"3094086980"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482629","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482629","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://export.arxiv.org/pdf/2010.13486","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082736433","display_name":"Florian K\u00f6pf","orcid":"https://orcid.org/0000-0003-2536-3409"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Kopf","raw_affiliation_strings":["Karlsruhe Institute of Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091660890","display_name":"Sean Kille","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sean Kille","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","[Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050017097","display_name":"Jairo Inga","orcid":"https://orcid.org/0000-0001-6554-9457"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jairo Inga","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","[Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040502908","display_name":"S\u00f6ren Hohmann","orcid":"https://orcid.org/0000-0002-4170-1431"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Soren Hohmann","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Karlsruhe Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4567,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65821856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1352","last_page":"1357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9902999997138977,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.984499990940094,"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/setpoint","display_name":"Setpoint","score":0.9483412504196167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8014121055603027},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5812081694602966},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5760738849639893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5745884776115417},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5468015074729919},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47572067379951477},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.4681055247783661},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.419108510017395},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.41168081760406494},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38384202122688293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22586601972579956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19381839036941528},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18585392832756042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17083829641342163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14997375011444092},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.0844653844833374}],"concepts":[{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.9483412504196167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8014121055603027},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5812081694602966},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5760738849639893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745884776115417},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5468015074729919},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47572067379951477},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.4681055247783661},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.419108510017395},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.41168081760406494},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38384202122688293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22586601972579956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19381839036941528},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18585392832756042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17083829641342163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14997375011444092},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0844653844833374},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/acc50511.2021.9482629","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482629","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"mag:3094086980","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2010.13486","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2010.13486","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.13486","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"mag:3094086980","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2010.13486","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1519874763","https://openalex.org/W1626155273","https://openalex.org/W1949804828","https://openalex.org/W1968277177","https://openalex.org/W1972243698","https://openalex.org/W1972809999","https://openalex.org/W2013895638","https://openalex.org/W2098565007","https://openalex.org/W2104843094","https://openalex.org/W2108734173","https://openalex.org/W2130005627","https://openalex.org/W2165726932","https://openalex.org/W2462102501","https://openalex.org/W2545601722","https://openalex.org/W2733312032","https://openalex.org/W2735892560","https://openalex.org/W2758863483","https://openalex.org/W2887344203","https://openalex.org/W2910843367","https://openalex.org/W2947300993","https://openalex.org/W3006583102","https://openalex.org/W3021532371","https://openalex.org/W3033628625","https://openalex.org/W3106462682","https://openalex.org/W6631346730"],"related_works":["https://openalex.org/W3179365215","https://openalex.org/W2803013339","https://openalex.org/W3170146359","https://openalex.org/W2359004825","https://openalex.org/W2726344087","https://openalex.org/W1494443490","https://openalex.org/W3146768057","https://openalex.org/W2096148213","https://openalex.org/W2128801207","https://openalex.org/W2068079947","https://openalex.org/W2186207443","https://openalex.org/W1991880568","https://openalex.org/W3157607889","https://openalex.org/W2072673196","https://openalex.org/W2329689830","https://openalex.org/W2316859987","https://openalex.org/W2491215346","https://openalex.org/W1999566326","https://openalex.org/W2565087577","https://openalex.org/W2977337634"],"abstract_inverted_index":{"While":[0],"many":[1],"theoretical":[2],"works":[3],"concerning":[4],"Adaptive":[5],"Dynamic":[6],"Programming":[7],"(ADP)":[8],"have":[9],"been":[10],"proposed,":[11],"application":[12],"results":[13,79],"are":[14,119],"scarce.":[15],"Therefore,":[16],"we":[17],"design":[18],"an":[19,37],"ADP-based":[20],"optimal":[21,100],"trajectory":[22,40],"tracking":[23,45,83,110],"controller":[24,101,123],"and":[25,46,116],"apply":[26],"it":[27],"to":[28,48,56,73,91],"a":[29,67,95,98],"large-scale":[30],"ball-on-plate":[31],"system.":[32],"Our":[33,77],"proposed":[34],"method":[35,64],"incorporates":[36],"approximated":[38],"reference":[39],"instead":[41],"of":[42,60,70,105],"using":[43,127],"setpoint":[44,92],"allows":[47],"automatically":[49,126],"compensate":[50],"for":[51],"constant":[52],"offset":[53],"terms.":[54],"Due":[55],"the":[57,61,63,75,87,103,122],"off-policy":[58],"characteristics":[59],"algorithm,":[62],"requires":[65],"only":[66],"small":[68],"amount":[69],"measured":[71,128],"data":[72],"train":[74],"controller.":[76],"experimental":[78],"show":[80],"that":[81],"this":[82],"mechanism":[84],"significantly":[85],"reduces":[86],"control":[88],"cost":[89],"compared":[90],"controllers.":[93],"Furthermore,":[94],"comparison":[96],"with":[97],"model-based":[99],"highlights":[102],"benefits":[104],"our":[106],"model-free":[107],"data-based":[108],"ADP":[109],"controller,":[111],"where":[112],"no":[113],"system":[114],"model":[115],"manual":[117],"tuning":[118],"required":[120],"but":[121],"is":[124],"tuned":[125],"data.":[129]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
