{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T04:58:38Z","timestamp":1776056318893,"version":"3.50.1"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,4,26]],"date-time":"2021-04-26T00:00:00Z","timestamp":1619395200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,4,26]],"date-time":"2021-04-26T00:00:00Z","timestamp":1619395200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973330"],"award-info":[{"award-number":["61973330"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773075"],"award-info":[{"award-number":["61773075"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2019NTST25"],"award-info":[{"award-number":["2019NTST25"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key Scientific Research Project of Bengbu University","award":["2019ZR01zd"],"award-info":[{"award-number":["2019ZR01zd"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2022,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this paper, a sliding mode (SM)-based online fault compensation control scheme is investigated for modular reconfigurable robots (MRRs) with actuator failures via adaptive dynamic programming. It consists of a SM-based iterative controller, an adaptive robust term and an online fault compensator. For fault-free MRR systems, the SM surface-based Hamilton\u2013Jacobi\u2013Bellman equation is solved by online policy iteration algorithm. The adaptive robust term is added to guarantee the reachable condition of SM surface. For faulty MRR systems, the actuator failure is compensated online to avoid the fault detection and isolation mechanism. The closed-loop MRR system is guaranteed to be asymptotically stable under the developed fault compensation control scheme. Simulation results verify the effectiveness of the present fault compensation control approach.<\/jats:p>","DOI":"10.1007\/s40747-021-00364-3","type":"journal-article","created":{"date-parts":[[2021,4,26]],"date-time":"2021-04-26T04:02:43Z","timestamp":1619409763000},"page":"1963-1973","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Sliding mode-based online fault compensation control for modular reconfigurable robots through adaptive dynamic programming"],"prefix":"10.1007","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3360-3110","authenticated-orcid":false,"given":"Hongbing","family":"Xia","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7122-1084","authenticated-orcid":false,"given":"Ping","family":"Guo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,4,26]]},"reference":[{"issue":"4","key":"364_CR1","doi-asserted-by":"crossref","first-page":"816","DOI":"10.1109\/TRO.2014.2304775","volume":"30","author":"A Gams","year":"2014","unstructured":"Gams A, Nemec B, Ijspeert AJ, Ude A (2014) Coupling movement primitives: interaction with the environment and bimanual tasks. IEEE Trans Robot 30(4):816\u2013830","journal-title":"IEEE Trans Robot"},{"issue":"5","key":"364_CR2","first-page":"2153","volume":"22","author":"HB Christoph","year":"2018","unstructured":"Christoph HB, Jamie P (2018) Mori: a modular origami robot. IEEE\/ASME Trans Mechatron 22(5):2153\u20132164","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"4","key":"364_CR3","first-page":"1740","volume":"13","author":"Y Li","year":"2018","unstructured":"Li Y, Xia H, Zhao B (2018) Policy iteration algorithm based fault tolerant tracking control: an implementation on reconfigurable manipulators. J Electr Eng Technol 13(4):1740\u20131751","journal-title":"J Electr Eng Technol"},{"issue":"1&2","key":"364_CR4","first-page":"66","volume":"6","author":"E Meister","year":"2013","unstructured":"Meister E, Gutenkunst A, Levi P (2013) Dynamics and control of modular and self-reconfigurable robotic systems. Int J Adv Intell Syst 6(1&2):66\u201378","journal-title":"Int J Adv Intell Syst"},{"issue":"1","key":"364_CR5","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1017\/S0263574707003608","volume":"26","author":"S Kirchoff","year":"2008","unstructured":"Kirchoff S, Melek WW (2008) Distributed control of modular and reconfigurable robot with torque sensing. Robotica 26(1):75\u201384","journal-title":"Robotica"},{"issue":"6","key":"364_CR6","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1016\/j.mechatronics.2013.05.008","volume":"23","author":"Z Li","year":"2013","unstructured":"Li Z, Melek WW, Clark C (2013) Distributed fault detection for modular and reconfigurable robots with joint torque sensing: a prediction error based approach. Mechatronics 23(6):607\u2013616","journal-title":"Mechatronics"},{"issue":"4","key":"364_CR7","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.mechatronics.2007.02.003","volume":"17","author":"S Kirchoff","year":"2007","unstructured":"Kirchoff S, Melek WW (2007) A saturation-type robust controller for modular manipulators arms. Mechatronics 17(4):175\u2013190","journal-title":"Mechatronics"},{"issue":"2","key":"364_CR8","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1017\/S0263574708004712","volume":"27","author":"Z Li","year":"2009","unstructured":"Li Z, Melek WW, Clark C (2009) Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms. Robotica 27(2):291\u2013302","journal-title":"Robotica"},{"issue":"4","key":"364_CR9","doi-asserted-by":"crossref","first-page":"472","DOI":"10.1002\/rnc.1444","volume":"20","author":"M Zhu","year":"2010","unstructured":"Zhu M, Li Y (2010) Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators. Int J Robust and Nonlinear Control 20(4):472\u2013488","journal-title":"Int J Robust and Nonlinear Control"},{"key":"364_CR10","doi-asserted-by":"crossref","first-page":"2917","DOI":"10.1007\/s11771-016-3355-y","volume":"23","author":"Y Li","year":"2016","unstructured":"Li Y, Ding G, Zhao B (2016) Decentralized adaptive neural network sliding mode position\/force control of constrained reconfigurable manipulators. J Cent South Univ 23:2917\u20132925","journal-title":"J Cent South Univ"},{"issue":"5","key":"364_CR11","doi-asserted-by":"crossref","first-page":"2364","DOI":"10.1007\/s12555-016-0248-7","volume":"15","author":"F Zhou","year":"2017","unstructured":"Zhou F, Dong B, Li Y (2017) Torque sensorless force\/position decentralized control for constrained reconfigurable manipulator with harmonic drive transmission. Int J Control Autom Syst 15(5):2364\u20132375","journal-title":"Int J Control Autom Syst"},{"issue":"6","key":"364_CR12","doi-asserted-by":"crossref","first-page":"2393","DOI":"10.5370\/JEET.2015.10.6.2393","volume":"10","author":"B Zhao","year":"2015","unstructured":"Zhao B, Li C, Ma T, Li Y (2015) Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator. J Electr Eng Technol 10(6):2393\u20132405","journal-title":"J Electr Eng Technol"},{"key":"364_CR13","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1016\/j.neucom.2016.12.063","volume":"235","author":"B Zhao","year":"2017","unstructured":"Zhao B, Li Y, Liu D (2017) Self-tuned local feedback gain based decentralized fault tolerant control for a class of large-scale nonlinear systems. Neurocomputing 235:147\u2013156","journal-title":"Neurocomputing"},{"key":"364_CR14","unstructured":"Werbos PJ (1992) Approximate dynamic programming for real-time control and neural modeling. In: Handbook of intelligent control: neural, fuzzy, and adaptive approaches, chapter 13"},{"issue":"4","key":"364_CR15","doi-asserted-by":"crossref","first-page":"3054","DOI":"10.1109\/TIE.2019.2914571","volume":"67","author":"B Zhao","year":"2020","unstructured":"Zhao B, Liu D (2020) Event-triggered decentralized tracking control of modular reconfigurable robots through adaptive dynamic programming. IEEE Trans Ind Electron 67(4):3054\u20133064","journal-title":"IEEE Trans Ind Electron"},{"key":"364_CR16","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.neunet.2020.09.020","volume":"134","author":"B Zhao","year":"2021","unstructured":"Zhao B, Luo F, Lin H, Liu D (2021) Particle swarm optimized neural networks based local tracking control scheme of unknown nonlinear interconnected systems. Neural Netw 134:54\u201363","journal-title":"Neural Netw"},{"issue":"12","key":"364_CR17","doi-asserted-by":"crossref","first-page":"3314","DOI":"10.1109\/TNNLS.2015.2461452","volume":"26","author":"Y Fu","year":"2015","unstructured":"Fu Y, Fu J, Chai T (2015) Robust adaptive dynamic programming of two-player zero-sum games for continuous-time linear systems. IEEE Trans Neural Netw Learn Syst 26(12):3314\u20133319","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"1","key":"364_CR18","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1109\/TNNLS.2016.2614002","volume":"29","author":"Q Zhang","year":"2018","unstructured":"Zhang Q, Zhao D, Wang D (2018) Event-based robust control for uncertain nonlinear systems using adaptive dynamic programming. IEEE Trans Neural Netw Learn Syst 29(1):37\u201350","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"364_CR19","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.ins.2018.05.039","volume":"460\u2013461","author":"H Yang","year":"2018","unstructured":"Yang H, Ying Li, Yuan H, Liu Z (2018) Adaptive dynamic programming for security of networked control systems with actuator saturation. Inf Sci 460\u2013461:51\u201364","journal-title":"Inf Sci"},{"key":"364_CR20","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2962103","author":"Y Yang","year":"2020","unstructured":"Yang Y, Vamvoudakis KG, Modares H, Yin Y, Wunsch DC (2020) Hamiltonian-driven hybrid adaptive dynamic programming. IEEE Trans Syst Man Cybern: Syst. https:\/\/doi.org\/10.1109\/TSMC.2019.2962103","journal-title":"IEEE Trans Syst Man Cybern: Syst"},{"issue":"12","key":"364_CR21","doi-asserted-by":"crossref","first-page":"5441","DOI":"10.1109\/TNNLS.2020.2967871","volume":"31","author":"Y Yang","year":"2020","unstructured":"Yang Y, Vamvoudakis KG, Modares H, Yin Y, Wunsch DC (2020) Safe intermittent reinforcement learning with static and dynamic event generators. IEEE Trans Neural Netw Learn Syst 31(12):5441\u20135455","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"9","key":"364_CR22","doi-asserted-by":"crossref","first-page":"4969","DOI":"10.1109\/TII.2019.2894282","volume":"15","author":"G Wen","year":"2019","unstructured":"Wen G, Philip Chen CL, Ge SS, Yang H, Liu X (2019) Optimized adaptive nonlinear tracking control using actor-critic reinforcement learning strategy. IEEE Trans Ind Inform 15(9):4969\u20134977","journal-title":"IEEE Trans Ind Inform"},{"issue":"10","key":"364_CR23","doi-asserted-by":"crossref","first-page":"4330","DOI":"10.1109\/TNNLS.2019.2954983","volume":"31","author":"B Zhao","year":"2020","unstructured":"Zhao B, Liu D, Luo C (2020) Reinforcement learning-based optimal stabilization for unknown nonlinear systems subject to inputs with uncertain constraints. IEEE Trans Neural Netw Learn Syst 31(10):4330\u20134340","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"11","key":"364_CR24","doi-asserted-by":"crossref","first-page":"4573","DOI":"10.1109\/TCYB.2020.2963849","volume":"50","author":"W Bai","year":"2020","unstructured":"Bai W, Li T, Tong S (2020) NN reinforcement learning adaptive control for a class of nonstrict-feedback discrete-time systems. IEEE Trans Cybern 50(11):4573\u20134584","journal-title":"IEEE Trans Cybern"},{"issue":"8","key":"364_CR25","doi-asserted-by":"crossref","first-page":"3433","DOI":"10.1109\/TCYB.2019.2921057","volume":"50","author":"W Bai","year":"2020","unstructured":"Bai W, Zhou Q, Li T, Li H (2020) Adaptive reinforcement learning neural network control for uncertain nonlinear system with input saturation. IEEE Trans Cybern 50(8):3433\u20133443","journal-title":"IEEE Trans Cybern"},{"key":"364_CR26","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1016\/j.neucom.2018.07.098","volume":"396","author":"J Shi","year":"2020","unstructured":"Shi J, Yue D, Xie X (2020) Adaptive optimal tracking control for nonlinear continuous-time systems with time delay using value iteration algorithm. Neurocomputing 396:172\u2013178","journal-title":"Neurocomputing"},{"issue":"2","key":"364_CR27","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1016\/j.neucom.2018.05.010","volume":"309","author":"K Zhang","year":"2018","unstructured":"Zhang K, Zhang H, Jiang H, Wang Y (2018) Near-optimal output tracking controller design for nonlinear systems using an event-driven ADP approach. Neurocomputing 309(2):168\u2013178","journal-title":"Neurocomputing"},{"issue":"12","key":"364_CR28","doi-asserted-by":"crossref","first-page":"3735","DOI":"10.1109\/TNNLS.2019.2897814","volume":"30","author":"Y Yang","year":"2019","unstructured":"Yang Y, Guo Z, Xiong H, Ding D, Yin Y, Wunsch DC (2019) Data-driven robust control of discrete-time uncertain linear systems via off-policy reinforcement learning. IEEE Trans Neural Netw Learn Syst 30(12):3735\u20133747","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"6","key":"364_CR29","doi-asserted-by":"crossref","first-page":"1010","DOI":"10.1109\/87.880607","volume":"8","author":"S Wu","year":"2000","unstructured":"Wu S, Grimble M, Wei W (2000) QFT based robust\/fault tolerant flight control design for a remote pilotless vehicle. IEEE Trans Control Syst Technol 8(6):1010\u20131016","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"3","key":"364_CR30","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1016\/j.automatica.2003.10.003","volume":"40","author":"C Bonivento","year":"2004","unstructured":"Bonivento C, IsidoriA Marconi L, Paoli A (2004) Implicit fault-tolerant control: application to induction motors. Automatica 40(3):355\u2013371","journal-title":"Automatica"},{"issue":"1","key":"364_CR31","doi-asserted-by":"crossref","first-page":"152","DOI":"10.1109\/TCST.2008.2009641","volume":"18","author":"M Benosman","year":"2010","unstructured":"Benosman M, Lum KY (2010) Passive actuators\u2019 fault-tolerant control for affine nonlinear systems. IEEE Trans Control Syst Technol 18(1):152\u2013163","journal-title":"IEEE Trans Control Syst Technol"},{"key":"364_CR32","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1016\/j.ins.2016.12.016","volume":"384","author":"B Zhao","year":"2017","unstructured":"Zhao B, Liu D, Li Y (2017) Observer based adaptive dynamic programming for fault tolerant control of a class of nonlinear systems. Inf Sci 384:21\u201333","journal-title":"Inf Sci"},{"issue":"1","key":"364_CR33","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1002\/rnc.1033","volume":"16","author":"W Chen","year":"2006","unstructured":"Chen W, Saif M (2006) An iterative learning observer for fault detection and accommodation in nonlinear time-delay systems. Int J Robust Nonlinear Control 16(1):1\u201319","journal-title":"Int J Robust Nonlinear Control"},{"key":"364_CR34","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1016\/j.jprocont.2015.07.006","volume":"34","author":"A Zakharov","year":"2015","unstructured":"Zakharov A, Zattoni E, Yu M, Jounela SLJ (2015) A performance optimization algorithm for controller reconfiguration in fault tolerant distributed model predictive control. J Process Control 34:56\u201369","journal-title":"J Process Control"},{"issue":"12","key":"364_CR35","doi-asserted-by":"crossref","first-page":"1440","DOI":"10.1002\/acs.2453","volume":"28","author":"MM Seron","year":"2014","unstructured":"Seron MM, Jose ADD (2014) Robust actuator fault compensation accounting for uncertainty in the fault estimation. Int J Adapt Control Signal Process 28(12):1440\u20131453","journal-title":"Int J Adapt Control Signal Process"},{"issue":"2","key":"364_CR36","doi-asserted-by":"crossref","first-page":"756","DOI":"10.1109\/TCST.2017.2679066","volume":"26","author":"AK Mohamed","year":"2018","unstructured":"Mohamed AK, Yu X, Zhang Y (2018) Fault-tolerant cooperative control design of multiple wheeled mobile robots. IEEE Trans Control Syst Technol 26(2):756\u2013764","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"2","key":"364_CR37","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1109\/TCST.2017.2670522","volume":"26","author":"RC Avram","year":"2018","unstructured":"Avram RC, Zhang X, Muse J (2018) Nonlinear adaptive fault-tolerant quadrotor altitude and attitude tracking with multiple actuator faults. IEEE Trans Control Syst Technol 26(2):701\u2013707","journal-title":"IEEE Trans Control Syst Technol"},{"key":"364_CR38","doi-asserted-by":"publisher","unstructured":"Hmidi R, Brahim AB, Dhahri S, Hmida FB, Sellami A (2020) Sliding mode fault-tolerant control for Takagi\u2013Sugeno fuzzy systems with local nonlinear models: application to inverted pendulum and cart system. Trans Inst Meas Control. https:\/\/doi.org\/10.1177\/0142331220949366","DOI":"10.1177\/0142331220949366"},{"issue":"6","key":"364_CR39","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1049\/iet-cta.2015.1081","volume":"10","author":"Q Fan","year":"2016","unstructured":"Fan Q, Yang G (2016) Adaptive fault-tolerant control for affine non-linear systems based on approximate dynamic programming. IET Control Theory Appl 10(6):655\u2013663","journal-title":"IET Control Theory Appl"},{"issue":"4","key":"364_CR40","doi-asserted-by":"crossref","first-page":"2089","DOI":"10.1007\/s11071-018-4309-8","volume":"93","author":"B Zhao","year":"2018","unstructured":"Zhao B, Jia L, Xia H, Li Y (2018) Adaptive dynamic programming based stabilization of nonlinear systems with unknown actuator saturation. Nonlinear Dyn 93(4):2089\u20132103","journal-title":"Nonlinear Dyn"},{"key":"364_CR41","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-84379-2","volume-title":"Sliding modes in control and optimization","author":"VI Utkin","year":"1992","unstructured":"Utkin VI (1992) Sliding modes in control and optimization. Springer, Berlin"},{"issue":"15","key":"364_CR42","doi-asserted-by":"crossref","first-page":"3857","DOI":"10.1016\/j.jfranklin.2016.06.018","volume":"353","author":"A Argha","year":"2016","unstructured":"Argha A, Li L, Su SW, Hung TN (2016) On LMI-based sliding mode control for uncertain discrete-time systems. J Frankl Inst 353(15):3857\u20133875","journal-title":"J Frankl Inst"},{"issue":"1","key":"364_CR43","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1109\/TMECH.2017.2775447","volume":"23","author":"J Qin","year":"2018","unstructured":"Qin J, Ma Q, Gao F, Zheng WX (2018) Fault-tolerant cooperative tracking control via integral sliding mode control technique. IEEE\/ASME Trans Mechatron 23(1):342\u2013351","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"2","key":"364_CR44","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1007\/s40747-017-0051-y","volume":"4","author":"M Pazooki","year":"2017","unstructured":"Pazooki M, Mazinan AH (2017) Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles. Complex Intell Syst 4(2):79\u201393","journal-title":"Complex Intell Syst"},{"issue":"51","key":"364_CR45","doi-asserted-by":"crossref","first-page":"918","DOI":"10.1109\/TIE.2017.2721883","volume":"65","author":"SK Kommuri","year":"2018","unstructured":"Kommuri SK, Rath JJ, Veluvolu KC (2018) Sliding-mode based observer-controller structure for fault-resilient control in dc servomotors. IEEE Trans Ind Electron 65(51):918\u2013929","journal-title":"IEEE Trans Ind Electron"},{"issue":"3","key":"364_CR46","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s40747-017-0063-7","volume":"4","author":"E Sharifi","year":"2018","unstructured":"Sharifi E, Mazinan AH (2018) On transient stability of multi-machine power systems through Takagi\u2013Sugeno fuzzy-based sliding mode control approach. Complex Intell Syst 4(3):171\u2013179","journal-title":"Complex Intell Syst"},{"key":"364_CR47","doi-asserted-by":"publisher","unstructured":"Zhao B, Liu D, Alippi C (2020) Sliding-mode surface-based approximate optimal control for uncertain nonlinear systems with asymptotically stable critic structure. IEEE Trans Cybern. https:\/\/doi.org\/10.1109\/TCYB.2019.2962011","DOI":"10.1109\/TCYB.2019.2962011"},{"key":"364_CR48","doi-asserted-by":"publisher","unstructured":"Na J, Lv Y, Zhang K, Zhao J (2020) Adaptive identifier-critic-based optimal tracking control for nonlinear systems with experimental validation. IEEE Trans Syst Man Cybern: Syst. https:\/\/doi.org\/10.1109\/TSMC.2020.3003224","DOI":"10.1109\/TSMC.2020.3003224"},{"key":"364_CR49","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1016\/j.neucom.2016.08.091","volume":"237","author":"Y Pan","year":"2017","unstructured":"Pan Y, Meng JE, Sun T, Xu B, Yu H (2017) Adaptive fuzzy PD control with stable $${H}_{\\infty }$$ tracking guarantee. Neurocomputing 237:71\u201378","journal-title":"Neurocomputing"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-021-00364-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-021-00364-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-021-00364-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,30]],"date-time":"2022-05-30T01:10:27Z","timestamp":1653873027000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-021-00364-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,26]]},"references-count":49,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,6]]}},"alternative-id":["364"],"URL":"https:\/\/doi.org\/10.1007\/s40747-021-00364-3","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"value":"2199-4536","type":"print"},{"value":"2198-6053","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,26]]},"assertion":[{"value":"30 November 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 April 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"On behalf of all authors, the corresponding author states that there is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}}]}}