{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T14:54:31Z","timestamp":1781103271421,"version":"3.54.1"},"reference-count":39,"publisher":"IGI Global Scientific Publishing","issue":"1","license":[{"start":{"date-parts":[[2024,12,21]],"date-time":"2024-12-21T00:00:00Z","timestamp":1734739200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/deed.en_US"},{"start":{"date-parts":[[2024,12,21]],"date-time":"2024-12-21T00:00:00Z","timestamp":1734739200000},"content-version":"am","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/deed.en_US"},{"start":{"date-parts":[[2024,12,21]],"date-time":"2024-12-21T00:00:00Z","timestamp":1734739200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/deed.en_US"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024,12,21]]},"abstract":"<p>In modern industrial production, trajectory tracking control of multi-degree-of-freedom robotic arms entails safety and efficiency. This study focuses on a two-degree-of-freedom manipulator, developing a mechanical dynamics model and implementing a parallel Linear Active Disturbance Rejection Controller (LADRC) for joint control. To enhance robustness and responsiveness, a hybrid adaptive control method is introduced, integrating adaptive laws (AL) for online tuning of parameters and offline optimization using the Deep Deterministic Policy Gradient (DDPG) algorithm. This improves tracking control efficiency and effectiveness. Additionally, offline reinforcement learning refines parameters without adding real-time computational demands. Finally, semantic web principles ensure interpretability and transparency of the control flow. Compared to traditional LADRC, the proposed method shows superior anti-interference capabilities and dynamic performance.<\/p>","DOI":"10.4018\/ijswis.364842","type":"journal-article","created":{"date-parts":[[2024,12,21]],"date-time":"2024-12-21T02:31:14Z","timestamp":1734748274000},"page":"1-30","source":"Crossref","is-referenced-by-count":2,"title":["Semantic Web-Driven Hybrid Adaptive Control System for Trajectory Tracking in Robotic Arms"],"prefix":"10.4018","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-2921-1810","authenticated-orcid":true,"given":"Wanqi","family":"Guo","sequence":"first","affiliation":[{"name":"Waseda University, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shigeyuki","family":"Tateno","sequence":"additional","affiliation":[{"name":"Waseda University, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"IJSWIS.364842-0","doi-asserted-by":"publisher","DOI":"10.23919\/ACC55779.2023.10156644"},{"key":"IJSWIS.364842-1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2023.126291"},{"key":"IJSWIS.364842-2","first-page":"245","article-title":"Directions for explainable knowledge-enabled systems","author":"S.Chari","year":"2020","journal-title":"Knowledge graphs for explainable artificial intelligence: Foundations, applications and challenges"},{"key":"IJSWIS.364842-3","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2022.105586"},{"key":"IJSWIS.364842-4","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1004.2013.00574"},{"key":"IJSWIS.364842-5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-80418-3_29"},{"key":"IJSWIS.364842-6","unstructured":"David, I., & Robles, G. (2012). PID control dynamics of a robotic arm manipulator with two degrees of freedom. Control de Processos y Robotica, 3\u20137."},{"key":"IJSWIS.364842-7","doi-asserted-by":"publisher","DOI":"10.23919\/ACC53348.2022.9867368"},{"key":"IJSWIS.364842-8","unstructured":"Gao, Z. (2003). Scaling and bandwidth-parameterization based controller tuning. In Acc, 4, 989-4."},{"key":"IJSWIS.364842-9","unstructured":"Gao, Z. (2013). On the foundation of active disturbance rejection control. Control Theory Applications, 30(12)."},{"key":"IJSWIS.364842-10","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2013.09.012"},{"key":"IJSWIS.364842-11","doi-asserted-by":"publisher","DOI":"10.1109\/ASET.2018.8379891"},{"key":"IJSWIS.364842-12","doi-asserted-by":"publisher","DOI":"10.1504\/IJCSM.2023.133641"},{"key":"IJSWIS.364842-13","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2011621"},{"issue":"1","key":"IJSWIS.364842-14","first-page":"19","article-title":"Auto disturbance rejection controller and it\u2019s applications.","volume":"13","author":"J. Q.Han","year":"1998","journal-title":"Control and Decision"},{"issue":"4","key":"IJSWIS.364842-15","first-page":"485","article-title":"Development of active disturbance rejection controller.","volume":"19","author":"Y.Huang","year":"2002","journal-title":"Control Theory and Applications"},{"key":"IJSWIS.364842-16","doi-asserted-by":"crossref","unstructured":"Kras\u0148ansk\u00fd, R., Valach, P., So\u00f3s, D., Zarbakhsh, J. (2015). Reference trajectory tracking for a multi-DOF robot arm. Archives of Control Sciences.","DOI":"10.1515\/acsc-2015-0033"},{"key":"IJSWIS.364842-17","doi-asserted-by":"publisher","DOI":"10.3390\/electronics10101137"},{"issue":"1","key":"IJSWIS.364842-18","doi-asserted-by":"crossref","first-page":"1","DOI":"10.4018\/IJSWIS.334556","article-title":"Semantic trajectory planning for industrial robotics.","volume":"20","author":"Z.Li","year":"2024","journal-title":"International Journal on Semantic Web and Information Systems"},{"key":"IJSWIS.364842-19","unstructured":"Lillicrap, T. P. (2015). Continuous control with deep reinforcement learning. arxiv preprint arxiv:1509.02971."},{"key":"IJSWIS.364842-20","doi-asserted-by":"publisher","DOI":"10.3390\/electronics12040962"},{"key":"IJSWIS.364842-21","doi-asserted-by":"publisher","DOI":"10.1109\/TIA.2019.2955664"},{"key":"IJSWIS.364842-22","doi-asserted-by":"publisher","DOI":"10.4018\/IJSWIS.297040"},{"key":"IJSWIS.364842-23","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1993\/1\/012026"},{"key":"IJSWIS.364842-24","doi-asserted-by":"publisher","DOI":"10.3390\/s23125412"},{"key":"IJSWIS.364842-25","doi-asserted-by":"crossref","unstructured":"Sinan, S., Bakr, M., Fareh, R., Saad, M., & Bettayeb, M. (2024). Evaluation of control techniques for quadcopter UAV attitude tracking. Journal of Control and Decision, 1\u201316.","DOI":"10.1080\/23307706.2024.2353293"},{"key":"IJSWIS.364842-26","doi-asserted-by":"publisher","DOI":"10.1177\/01423312211065918"},{"key":"IJSWIS.364842-27","doi-asserted-by":"publisher","DOI":"10.23919\/JSEE.2022.000017"},{"key":"IJSWIS.364842-28","doi-asserted-by":"publisher","DOI":"10.3390\/electronics11182833"},{"key":"IJSWIS.364842-29","doi-asserted-by":"publisher","DOI":"10.2316\/Journal.206.2015.2.206-4185"},{"key":"IJSWIS.364842-30","doi-asserted-by":"publisher","DOI":"10.1177\/0142331216645176"},{"key":"IJSWIS.364842-31","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2021.06.016"},{"key":"IJSWIS.364842-32","doi-asserted-by":"crossref","unstructured":"Yang, T., Cui, C., Zhang, C., & Yang, J. (2023). Robustness enhancement of DRL controller for DC-DC buck convertersfusing ESO. Journal of Control and Decision, 1\u201310.","DOI":"10.1080\/23307706.2023.2201587"},{"key":"IJSWIS.364842-33","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/2477\/1\/012095"},{"key":"IJSWIS.364842-34","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2021.3105392"},{"key":"IJSWIS.364842-35","doi-asserted-by":"publisher","DOI":"10.3390\/machines9120363"},{"key":"IJSWIS.364842-36","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2021.06.063"},{"key":"IJSWIS.364842-37","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.113667"},{"key":"IJSWIS.364842-38","author":"B.Zhu","year":"2017","journal-title":"Introduction to active disturbance rejection control"}],"container-title":["International Journal on Semantic Web and Information Systems"],"original-title":[],"language":"ng","link":[{"URL":"https:\/\/www.igi-global.com\/viewtitle.aspx?TitleId=364842","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T22:06:18Z","timestamp":1765577178000},"score":1,"resource":{"primary":{"URL":"https:\/\/services.igi-global.com\/resolvedoi\/resolve.aspx?doi=10.4018\/IJSWIS.364842"}},"subtitle":[""],"short-title":[],"issued":{"date-parts":[[2024,12,21]]},"references-count":39,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2025,1]]}},"URL":"https:\/\/doi.org\/10.4018\/ijswis.364842","relation":{},"ISSN":["1552-6283","1552-6291"],"issn-type":[{"value":"1552-6283","type":"print"},{"value":"1552-6291","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,21]]}}}