{"id":"https://openalex.org/W3138640436","doi":"https://doi.org/10.3390/robotics10010050","title":"Industrial Robot Trajectory Tracking Control Using Multi-Layer Neural Networks Trained by Iterative Learning Control","display_name":"Industrial Robot Trajectory Tracking Control Using Multi-Layer Neural Networks Trained by Iterative Learning Control","publication_year":2021,"publication_date":"2021-03-21","ids":{"openalex":"https://openalex.org/W3138640436","doi":"https://doi.org/10.3390/robotics10010050","mag":"3138640436"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010050","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010050","pdf_url":"https://www.mdpi.com/2218-6581/10/1/50/pdf?version=1616561281","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/50/pdf?version=1616561281","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101715686","display_name":"Shuyang Chen","orcid":"https://orcid.org/0000-0003-2627-3691"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shuyang Chen","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA"],"raw_orcid":"https://orcid.org/0000-0003-2627-3691","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074830403","display_name":"John T. Wen","orcid":"https://orcid.org/0000-0002-5123-5411"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John T. Wen","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA"],"raw_orcid":"https://orcid.org/0000-0002-5123-5411","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101715686"],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":4.9954,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.95695834,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"1","first_page":"50","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9940999746322632,"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":0.9782000184059143,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7670255303382874},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6873458027839661},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.682465672492981},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6438208222389221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5262963771820068},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.49877214431762695},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45947685837745667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4517417252063751},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4258703291416168},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.42576727271080017},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4110981822013855},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3816171884536743},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3768002390861511},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.344855934381485},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3176993131637573},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.18983185291290283},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15525183081626892}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7670255303382874},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6873458027839661},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.682465672492981},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6438208222389221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5262963771820068},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.49877214431762695},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45947685837745667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4517417252063751},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4258703291416168},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.42576727271080017},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4110981822013855},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3816171884536743},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3768002390861511},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.344855934381485},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3176993131637573},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.18983185291290283},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15525183081626892},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics10010050","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010050","pdf_url":"https://www.mdpi.com/2218-6581/10/1/50/pdf?version=1616561281","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:680b6173d19a41dc80c1282a4da71661","is_oa":true,"landing_page_url":"https://doaj.org/article/680b6173d19a41dc80c1282a4da71661","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 50 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/1/50/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10010050","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10010050","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010050","pdf_url":"https://www.mdpi.com/2218-6581/10/1/50/pdf?version=1616561281","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1798391535","display_name":null,"funder_award_id":"W911NF-17-3-0004","funder_id":"https://openalex.org/F4320332201","funder_display_name":"Office of the Secretary of Defense"}],"funders":[{"id":"https://openalex.org/F4320332201","display_name":"Office of the Secretary of Defense","ror":"https://ror.org/00q4sx826"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3138640436.pdf","grobid_xml":"https://content.openalex.org/works/W3138640436.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1565170927","https://openalex.org/W1615465651","https://openalex.org/W2001123678","https://openalex.org/W2028731420","https://openalex.org/W2050918738","https://openalex.org/W2057609590","https://openalex.org/W2078736691","https://openalex.org/W2083483041","https://openalex.org/W2099579168","https://openalex.org/W2102542760","https://openalex.org/W2102564968","https://openalex.org/W2103787878","https://openalex.org/W2107937876","https://openalex.org/W2115932303","https://openalex.org/W2116490015","https://openalex.org/W2122321511","https://openalex.org/W2123010170","https://openalex.org/W2125650133","https://openalex.org/W2128161194","https://openalex.org/W2131259937","https://openalex.org/W2137442297","https://openalex.org/W2138484437","https://openalex.org/W2140175846","https://openalex.org/W2141996226","https://openalex.org/W2147199167","https://openalex.org/W2156246393","https://openalex.org/W2165698076","https://openalex.org/W2197726977","https://openalex.org/W2253274025","https://openalex.org/W2288616283","https://openalex.org/W2468673050","https://openalex.org/W2549092026","https://openalex.org/W2594498399","https://openalex.org/W2765544393","https://openalex.org/W2766253699","https://openalex.org/W2783813470","https://openalex.org/W2792852625","https://openalex.org/W2797280915","https://openalex.org/W2892766608","https://openalex.org/W2892908541","https://openalex.org/W2901402208","https://openalex.org/W2922588511","https://openalex.org/W2995486512","https://openalex.org/W3028890177","https://openalex.org/W3042317093","https://openalex.org/W3087081411","https://openalex.org/W3089364205","https://openalex.org/W3099548126","https://openalex.org/W3116496379"],"related_works":["https://openalex.org/W1495927848","https://openalex.org/W4205962020","https://openalex.org/W2620138946","https://openalex.org/W2128997828","https://openalex.org/W2131948728","https://openalex.org/W1527727992","https://openalex.org/W1532677580","https://openalex.org/W2001900524","https://openalex.org/W1531114845","https://openalex.org/W2917916498"],"abstract_inverted_index":{"Fast":[0],"and":[1,32,43,80,122,206,223,233,246],"precise":[2],"robot":[3,13,30,116,219,245],"motion":[4,14,19],"is":[5,26,52,104],"needed":[6],"in":[7,58,169,192,221],"many":[8],"industrial":[9,12,94,244],"applications.":[10],"Most":[11],"controllers":[15],"allow":[16],"externally":[17],"commanded":[18],"profiles,":[20],"but":[21,187],"the":[22,29,60,67,86,101,115,123,138,142,155,164,170,174,182,193,202,207,213,225,241],"trajectory":[23,87],"tracking":[24,88,183],"performance":[25,51,89,184],"affected":[27],"by":[28,55],"dynamics":[31],"joint":[33],"servo":[34],"controllers,":[35],"to":[36,66,84,112,131,136,161,178],"which":[37,45],"users":[38],"have":[39,47],"no":[40],"direct":[41],"access":[42],"about":[44],"they":[46],"little":[48],"information.":[49],"The":[50],"further":[53],"compromised":[54],"time":[56],"delays":[57],"transmitting":[59],"external":[61,102],"command":[62,103],"as":[63,167,189,191],"a":[64,91,97,108,150,179,228],"setpoint":[65],"inner":[68],"control":[69],"loop.":[70],"This":[71],"paper":[72],"presents":[73],"an":[74],"approach":[75],"for":[76,90,114],"combining":[77],"neural":[78,134,157,176,215],"networks":[79,135,158,177,216],"iterative":[81],"learning":[82,199],"controls":[83],"improve":[85],"multi-axis":[92],"articulated":[93],"robot.":[95,209],"For":[96],"given":[98],"desired":[99,120],"trajectory,":[100],"iteratively":[105],"refined":[106,125],"using":[107],"high-fidelity":[109],"dynamical":[110,139],"simulator":[111],"compensate":[113],"inner-loop":[117,144],"dynamics.":[118,145],"These":[119],"trajectories":[121,127,162],"corresponding":[124],"input":[126],"are":[128,238],"then":[129],"used":[130],"train":[132],"multi-layer":[133],"emulate":[137],"inverse":[140],"of":[141,227,235],"nonlinear":[143],"We":[146,195],"show":[147,196],"that":[148,197],"with":[149],"sufficiently":[151],"rich":[152],"training":[153,165],"set,":[154],"trained":[156,175,214],"generalize":[159],"well":[160],"beyond":[163],"set":[166],"tested":[168],"simulator.":[171,194],"In":[172],"applying":[173],"physical":[180,208],"robot,":[181],"still":[185],"improves":[186],"not":[188],"much":[190],"transfer":[198],"effectively":[200],"bridges":[201],"gap":[203],"between":[204],"simulation":[205,222],"Finally,":[210],"we":[211],"test":[212],"on":[217,240],"other":[218],"models":[220],"demonstrate":[224],"possibility":[226],"general":[229],"purpose":[230],"network.":[231],"Development":[232],"evaluation":[234],"this":[236],"methodology":[237],"based":[239],"ABB":[242,247],"IRB6640-180":[243],"RobotStudio":[248],"software":[249],"packages.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}