{"id":"https://openalex.org/W4406022720","doi":"https://doi.org/10.3390/a18010018","title":"Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm","display_name":"Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm","publication_year":2025,"publication_date":"2025-01-03","ids":{"openalex":"https://openalex.org/W4406022720","doi":"https://doi.org/10.3390/a18010018"},"language":"en","primary_location":{"id":"doi:10.3390/a18010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18010018","pdf_url":"https://www.mdpi.com/1999-4893/18/1/18/pdf?version=1735904506","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/18/1/18/pdf?version=1735904506","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100782819","display_name":"Jin Zhang","orcid":"https://orcid.org/0000-0002-6043-309X"},"institutions":[{"id":"https://openalex.org/I903994226","display_name":"Xuchang University","ror":"https://ror.org/03k174p87","country_code":"CN","type":"education","lineage":["https://openalex.org/I903994226"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jing Zhang","raw_affiliation_strings":["Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China","School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China"],"affiliations":[{"raw_affiliation_string":"Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China","institution_ids":["https://openalex.org/I903994226"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China","institution_ids":["https://openalex.org/I903994226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100530190","display_name":"Xiaokai Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I903994226","display_name":"Xuchang University","ror":"https://ror.org/03k174p87","country_code":"CN","type":"education","lineage":["https://openalex.org/I903994226"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokai Zhu","raw_affiliation_strings":["Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China","School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China"],"affiliations":[{"raw_affiliation_string":"Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China","institution_ids":["https://openalex.org/I903994226"]},{"raw_affiliation_string":"School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China","institution_ids":["https://openalex.org/I903994226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085466349","display_name":"Te Chen","orcid":"https://orcid.org/0000-0002-4596-6509"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Te Chen","raw_affiliation_strings":["Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111478902","display_name":"Guowei Dou","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Dou","raw_affiliation_strings":["School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100782819"],"corresponding_institution_ids":["https://openalex.org/I903994226"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":1.1715,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74557417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"18","issue":"1","first_page":"18","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9772999882698059,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9746999740600586,"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/trajectory","display_name":"Trajectory","score":0.7633816003799438},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6270660161972046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6203469634056091},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6136248111724854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5918904542922974},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5908603668212891},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44903939962387085},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4407771825790405},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43768805265426636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42209747433662415},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41368186473846436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3695381283760071},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35816845297813416},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3311108946800232},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25994473695755005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06284821033477783}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7633816003799438},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6270660161972046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6203469634056091},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6136248111724854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5918904542922974},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5908603668212891},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44903939962387085},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4407771825790405},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43768805265426636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42209747433662415},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41368186473846436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3695381283760071},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35816845297813416},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3311108946800232},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25994473695755005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06284821033477783},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a18010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18010018","pdf_url":"https://www.mdpi.com/1999-4893/18/1/18/pdf?version=1735904506","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:03254864368f4806a870410d69cd5550","is_oa":true,"landing_page_url":"https://doaj.org/article/03254864368f4806a870410d69cd5550","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 18, Iss 1, p 18 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a18010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18010018","pdf_url":"https://www.mdpi.com/1999-4893/18/1/18/pdf?version=1735904506","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"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":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2378968777","display_name":null,"funder_award_id":"52202472","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6060848057","display_name":null,"funder_award_id":"82102210","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":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406022720.pdf","grobid_xml":"https://content.openalex.org/works/W4406022720.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1544853044","https://openalex.org/W2919402247","https://openalex.org/W2927173594","https://openalex.org/W3026199346","https://openalex.org/W3044225827","https://openalex.org/W3128413069","https://openalex.org/W3135286236","https://openalex.org/W3151306683","https://openalex.org/W3207406441","https://openalex.org/W4200406880","https://openalex.org/W4235209848","https://openalex.org/W4239338967","https://openalex.org/W4254083416","https://openalex.org/W4313033508","https://openalex.org/W4313569764","https://openalex.org/W4313828154","https://openalex.org/W4361988957","https://openalex.org/W4362575888","https://openalex.org/W4378840163","https://openalex.org/W4379207647","https://openalex.org/W4385318786","https://openalex.org/W4386702647","https://openalex.org/W4388871033","https://openalex.org/W4390236953","https://openalex.org/W4396905068","https://openalex.org/W4401972181","https://openalex.org/W4402676855","https://openalex.org/W4403041568","https://openalex.org/W4403041767","https://openalex.org/W4403069440","https://openalex.org/W4403172259","https://openalex.org/W4403335509","https://openalex.org/W4403390062","https://openalex.org/W4403396452","https://openalex.org/W4403491804","https://openalex.org/W4405184138","https://openalex.org/W6781703618","https://openalex.org/W6792605521","https://openalex.org/W6800686989"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"A":[0,24],"pseudo-spectral":[1,98],"control":[2,19,34,60,69,90,104,132],"algorithm":[3,113],"based":[4,106],"on":[5,107],"adaptive":[6,52,109],"Gauss":[7,53],"collocation":[8,48,54],"point":[9,111],"reconstruction":[10,112],"is":[11],"proposed":[12,101],"to":[13,64],"efficiently":[14],"solve":[15],"the":[16,28,42,46,66,76,89,95,100,117,129],"optimal":[17,103],"dynamics":[18,59,67],"problem":[20],"of":[21,35,44,71,79,122,137],"industrial":[22,36,57,72,138],"robots.":[23,139],"mathematical":[25],"model":[26],"for":[27,56],"kinematic":[29],"relationship":[30],"and":[31,94,120,133],"dynamic":[32,102,130],"optimization":[33,68,81,124,131],"robots":[37],"has":[38],"been":[39],"established.":[40],"On":[41],"basis":[43],"deriving":[45],"Legendre\u2013Gauss":[47],"formula,":[49],"a":[50],"two-stage":[51],"strategy":[55],"robot":[58,73],"variables":[61],"was":[62],"designed":[63],"improve":[65,116],"effect":[70,136],"by":[74],"improving":[75],"solution":[77],"efficiency":[78,121],"constrained":[80,123],"problems.":[82],"The":[83],"results":[84],"show":[85],"that":[86],"compared":[87],"with":[88],"variable":[91],"parameterization":[92],"method":[93,105],"traditional":[96],"Gaussian":[97,110],"method,":[99],"an":[108],"can":[114],"effectively":[115],"solving":[118],"time":[119],"problems,":[125],"thereby":[126],"further":[127],"enhancing":[128],"trajectory":[134],"tracking":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
