{"id":"https://openalex.org/W4295854880","doi":"https://doi.org/10.23919/acc53348.2022.9867641","title":"Active Fault-Tolerant Control Integrated with Reinforcement Learning Application to Robotic Manipulator","display_name":"Active Fault-Tolerant Control Integrated with Reinforcement Learning Application to Robotic Manipulator","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4295854880","doi":"https://doi.org/10.23919/acc53348.2022.9867641"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867641","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","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/A5076910727","display_name":"Zichen Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Yan","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004980453","display_name":"Junbo Tan","orcid":"https://orcid.org/0000-0002-8956-5408"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Tan","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","Department of Automation, Navigation and Control Research Center, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Navigation and Control Research Center, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","Department of Automation, Navigation and Control Research Center, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Navigation and Control Research Center, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience,Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912623","display_name":"Jun Yang","orcid":"https://orcid.org/0000-0002-9386-5825"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Yang","raw_affiliation_strings":["Tsinghua University,Navigation and Control Research Center,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Navigation and Control Research Center,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5578,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83265306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2656","last_page":"2662"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9980000257492065,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9799000024795532,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.846084713935852},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7723413705825806},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6990551948547363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6270163059234619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6006404757499695},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5815210342407227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5806862115859985},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5680681467056274},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.550180196762085},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5424526333808899},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5344103574752808},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4419369101524353},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44184139370918274},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42877405881881714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3619019687175751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3134661912918091},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.07840782403945923}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.846084713935852},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7723413705825806},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6990551948547363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6270163059234619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6006404757499695},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5815210342407227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5806862115859985},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5680681467056274},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.550180196762085},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5424526333808899},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5344103574752808},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4419369101524353},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44184139370918274},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42877405881881714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3619019687175751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3134661912918091},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.07840782403945923},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867641","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867641","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1420482694","https://openalex.org/W1881928823","https://openalex.org/W1965875070","https://openalex.org/W1983782700","https://openalex.org/W2054127377","https://openalex.org/W2089245023","https://openalex.org/W2096711639","https://openalex.org/W2124244980","https://openalex.org/W2143792422","https://openalex.org/W2152161277","https://openalex.org/W2158782408","https://openalex.org/W2338719424","https://openalex.org/W2343090116","https://openalex.org/W2461729787","https://openalex.org/W2569414656","https://openalex.org/W2582177834","https://openalex.org/W2787938642","https://openalex.org/W2897242039","https://openalex.org/W2962872206","https://openalex.org/W2963864421","https://openalex.org/W2970938399","https://openalex.org/W2989818023","https://openalex.org/W3091635810","https://openalex.org/W3152836526","https://openalex.org/W6684921986","https://openalex.org/W6748839928","https://openalex.org/W6793806675"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2586732548","https://openalex.org/W3101820272","https://openalex.org/W2372125609","https://openalex.org/W1980242058"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"an":[5,46],"active":[6,20],"fault-tolerant":[7,21,35],"control":[8,22,36,63,96],"framework":[9,110],"for":[10,82,94],"robotic":[11],"manipulators":[12],"subjected":[13],"to":[14,55,66],"joint":[15],"actuator":[16,40,117],"faults.":[17,118],"The":[18,85],"proposed":[19,109],"scheme":[23,86],"includes":[24],"a":[25,32,90],"neural":[26],"network-based":[27],"fault":[28,41],"diagnosis":[29],"module":[30],"and":[31,44,60,115],"reinforcement":[33,48],"learning-based":[34],"module.":[37],"Once":[38],"the":[39,57,62,75,99,105,108],"is":[42,87],"detected":[43],"diagnosed,":[45],"additive":[47],"learning":[49],"controller":[50],"will":[51],"produce":[52],"compensation":[53],"torques":[54],"guarantee":[56],"system":[58,77],"safety":[59],"maintain":[61],"performance.":[64],"Compared":[65],"traditional":[67],"methods,":[68],"our":[69],"strategy":[70],"avoids":[71],"overly":[72],"relying":[73],"on":[74,89],"exact":[76],"models,":[78],"which":[79],"has":[80],"potential":[81],"wider":[83],"applications.":[84],"evaluated":[88],"7-DOF":[91],"Panda":[92],"manipulator":[93],"tracking":[95],"tasks":[97],"in":[98,111],"MuJoCo":[100],"simulator.":[101],"Simulation":[102],"results":[103],"demonstrate":[104],"effectiveness":[106],"of":[107],"dealing":[112],"with":[113],"single":[114],"multiple":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}