{"id":"https://openalex.org/W7151470850","doi":"https://doi.org/10.3390/informatics13040049","title":"A Discrete-Form Double-Integration-Enhanced Recurrent Neural Network for Stewart Platform Control with Time-Varying Disturbance Suppression","display_name":"A Discrete-Form Double-Integration-Enhanced Recurrent Neural Network for Stewart Platform Control with Time-Varying Disturbance Suppression","publication_year":2026,"publication_date":"2026-03-25","ids":{"openalex":"https://openalex.org/W7151470850","doi":"https://doi.org/10.3390/informatics13040049"},"language":"en","primary_location":{"id":"doi:10.3390/informatics13040049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/informatics13040049","pdf_url":null,"source":{"id":"https://openalex.org/S2738238905","display_name":"Informatics","issn_l":"2227-9709","issn":["2227-9709"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/informatics13040049","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031496244","display_name":"Yueyang Ma","orcid":"https://orcid.org/0000-0002-0886-6189"},"institutions":[{"id":"https://openalex.org/I4210108113","display_name":"Yango University","ror":"https://ror.org/01eqh1863","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210108113"]},{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueyang Ma","raw_affiliation_strings":["College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I4210108113","https://openalex.org/I78978612"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133109294","display_name":"Yang Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I41317344","display_name":"Jiangxi Science and Technology Normal University","ror":"https://ror.org/04r1zkp10","country_code":"CN","type":"education","lineage":["https://openalex.org/I41317344"]},{"id":"https://openalex.org/I4210108113","display_name":"Yango University","ror":"https://ror.org/01eqh1863","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210108113"]},{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Shi","raw_affiliation_strings":["College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China","School of Physics and Information Engineering, Guangxi Science & Technology Normal University, Laibin 546199, China"],"raw_orcid":"https://orcid.org/0000-0003-3014-7858","affiliations":[{"raw_affiliation_string":"College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I4210108113","https://openalex.org/I78978612"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]},{"raw_affiliation_string":"School of Physics and Information Engineering, Guangxi Science & Technology Normal University, Laibin 546199, China","institution_ids":["https://openalex.org/I41317344"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5133126902","display_name":"Chao Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210108113","display_name":"Yango University","ror":"https://ror.org/01eqh1863","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210108113"]},{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Jiang","raw_affiliation_strings":["College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China"],"raw_orcid":"https://orcid.org/0000-0003-1448-3691","affiliations":[{"raw_affiliation_string":"College of Information and Artificial Intelligence, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I4210108113","https://openalex.org/I78978612"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Knowledge Management and Intelligent Service, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5133126902"],"corresponding_institution_ids":["https://openalex.org/I4210108113","https://openalex.org/I78978612"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37803551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"4","first_page":"49","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.3571000099182129,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.3571000099182129,"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":0.22859999537467957,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.18070000410079956,"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/robustness","display_name":"Robustness (evolution)","score":0.7383999824523926},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6710000038146973},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.6632999777793884},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.6601999998092651},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6373999714851379},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6004999876022339},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5090000033378601},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4796999990940094},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46709999442100525}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7383999824523926},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6710000038146973},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.6632999777793884},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.6601999998092651},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6373999714851379},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6004999876022339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164999961853027},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5090000033378601},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4796999990940094},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46709999442100525},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41100001335144043},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4034000039100647},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3734000027179718},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.33009999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3264999985694885},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.32269999384880066},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.3037000000476837},{"id":"https://openalex.org/C158411068","wikidata":"https://www.wikidata.org/wiki/Q2720568","display_name":"Digital control","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27630001306533813},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2558000087738037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/informatics13040049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/informatics13040049","pdf_url":null,"source":{"id":"https://openalex.org/S2738238905","display_name":"Informatics","issn_l":"2227-9709","issn":["2227-9709"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Informatics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2a2ecceaa7a74bf59f9e4741798f8edb","is_oa":true,"landing_page_url":"https://doaj.org/article/2a2ecceaa7a74bf59f9e4741798f8edb","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Informatics, Vol 13, Iss 4, p 49 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/informatics13040049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/informatics13040049","pdf_url":null,"source":{"id":"https://openalex.org/S2738238905","display_name":"Informatics","issn_l":"2227-9709","issn":["2227-9709"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Informatics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5465254187583923,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G8581092217","display_name":null,"funder_award_id":"61906164","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2042628721","https://openalex.org/W2082886347","https://openalex.org/W2888123880","https://openalex.org/W3121807756","https://openalex.org/W3145865708","https://openalex.org/W3201438702","https://openalex.org/W4206265152","https://openalex.org/W4226172414","https://openalex.org/W4285142610","https://openalex.org/W4295935104","https://openalex.org/W4313413501","https://openalex.org/W4319338903","https://openalex.org/W4320005412","https://openalex.org/W4388145478","https://openalex.org/W4388691853","https://openalex.org/W4389762816","https://openalex.org/W4390871616","https://openalex.org/W4391407020","https://openalex.org/W4392908110","https://openalex.org/W4396909819","https://openalex.org/W4399373755","https://openalex.org/W4400335439","https://openalex.org/W4400679822","https://openalex.org/W4405488422","https://openalex.org/W4407450013","https://openalex.org/W4408399684","https://openalex.org/W4409883062","https://openalex.org/W4412795933","https://openalex.org/W4413138445","https://openalex.org/W4413212585","https://openalex.org/W4413991491","https://openalex.org/W4414974187","https://openalex.org/W7109962514","https://openalex.org/W7119480620"],"related_works":[],"abstract_inverted_index":{"The":[0],"discrete-form":[1,78,157,164],"control":[2],"of":[3,21,39,114],"the":[4,19,37,88,111,115,143],"Stewart":[5,165],"platform":[6,166],"is":[7,27,64,83],"essential":[8],"for":[9,163],"digital":[10,74],"implementation":[11],"in":[12],"intelligent":[13],"manufacturing":[14],"and":[15,97,118,138,150],"robotic":[16],"systems":[17],"under":[18,124],"context":[20],"Industry":[22],"4.0,":[23],"yet":[24],"its":[25,120,129,161],"performance":[26],"often":[28],"degraded":[29],"by":[30,86],"unavoidable":[31],"discrete":[32,133],"disturbances.":[33,72,136],"This":[34],"challenge":[35],"motivates":[36],"development":[38],"algorithms":[40],"with":[41],"strong":[42],"disturbance":[43,126,148],"suppression":[44,149],"capability.":[45],"To":[46],"address":[47],"this":[48],"issue,":[49],"a":[50,59,77,92,98],"continuous-form":[51],"double-integration-enhanced":[52,61,79],"recurrent":[53],"neural":[54],"network":[55],"(CF-DIE-RNN)":[56],"algorithm":[57,82,90,117,145],"incorporating":[58],"novel":[60],"design":[62],"concept":[63],"first":[65],"developed":[66],"to":[67,131],"improve":[68],"robustness":[69],"against":[70],"time-varying":[71,135],"For":[73],"hardware":[75],"applications,":[76],"RNN":[80,158],"(DF-DIE-RNN)":[81],"then":[84],"constructed":[85],"discretizing":[87],"CF-DIE-RNN":[89],"using":[91],"general":[93],"four-step":[94],"discretization":[95],"formula":[96,102],"one-step":[99],"forward":[100],"difference":[101],"based":[103],"on":[104],"Taylor":[105],"expansion.":[106],"Rigorous":[107],"theoretical":[108],"analysis":[109],"establishes":[110],"convergence":[112],"properties":[113],"proposed":[116],"characterizes":[119],"steady-state":[121],"residual":[122],"bounds":[123],"different":[125],"types,":[127],"revealing":[128],"capability":[130],"suppress":[132],"quadratic":[134],"Numerical":[137],"simulation":[139],"experiments":[140],"demonstrate":[141],"that":[142],"DF-DIE-RNN":[144],"achieves":[146],"superior":[147],"more":[151],"accurate":[152],"trajectory":[153],"tracking":[154],"than":[155],"existing":[156],"algorithms,":[159],"confirming":[160],"effectiveness":[162],"control.":[167]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-04-08T00:00:00"}