{"id":"https://openalex.org/W1967097553","doi":"https://doi.org/10.3182/20100901-3-it-2016.00256","title":"Stabilization of a Class of 2-DOF Underactuated Mechanical Systems Via Lyapunov's Direct Approach","display_name":"Stabilization of a Class of 2-DOF Underactuated Mechanical Systems Via Lyapunov's Direct Approach","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W1967097553","doi":"https://doi.org/10.3182/20100901-3-it-2016.00256","mag":"1967097553"},"language":"en","primary_location":{"id":"doi:10.3182/20100901-3-it-2016.00256","doi":"https://doi.org/10.3182/20100901-3-it-2016.00256","is_oa":false,"landing_page_url":"https://doi.org/10.3182/20100901-3-it-2016.00256","pdf_url":null,"source":{"id":"https://openalex.org/S2898246533","display_name":"IFAC Proceedings Volumes","issn_l":"1474-6670","issn":["1474-6670","2589-3653"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC Proceedings Volumes","raw_type":"journal-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034320703","display_name":"T\u00fcrker T\u00fcrker","orcid":"https://orcid.org/0000-0003-2653-3625","observed_orcids":["https://orcid.org/0000-0003-2653-3625"]},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Turker Turker","raw_affiliation_strings":["Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]},{"raw_affiliation_string":"Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108402492","display_name":"Haluk G\u00f6rg\u00fcn","orcid":"https://orcid.org/0000-0002-3959-2854","observed_orcids":["https://orcid.org/0000-0002-3959-2854"]},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Haluk Gorgun","raw_affiliation_strings":["Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]},{"raw_affiliation_string":"Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068886183","display_name":"Galip Cansever","orcid":"https://orcid.org/0000-0003-2294-4259","observed_orcids":["https://orcid.org/0000-0003-2294-4259"]},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Galip Cansever","raw_affiliation_strings":["Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Automation Engineering, Yildiz Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]},{"raw_affiliation_string":"Department of Control and Automation Engineering, Y\u0131ld\u0131z Technical University, \u0130stanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5034320703","https://openalex.org/A5068886183","https://openalex.org/A5108402492"],"corresponding_institution_ids":["https://openalex.org/I4101805"],"apc_list":null,"apc_paid":null,"fwci":1.1355,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.70977011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"43","issue":"14","first_page":"1128","last_page":"1133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9916999936103821,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9916999936103821,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.007000000216066837,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0003000000142492354,"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/underactuated-mechanical-systems","display_name":"underactuated mechanical systems","score":0.9919999837875366},{"id":"https://openalex.org/keywords/stabilization","display_name":"stabilization","score":0.9179999828338623},{"id":"https://openalex.org/keywords/lyapunov-direct-method","display_name":"Lyapunov direct method","score":0.9319999814033508},{"id":"https://openalex.org/keywords/partial-feedback-linearization","display_name":"partial feedback linearization","score":0.9580000042915344},{"id":"https://openalex.org/keywords/coordinate-transformation","display_name":"coordinate transformation","score":0.8579999804496765},{"id":"https://openalex.org/keywords/asymptotic-stability","display_name":"asymptotic stability","score":0.9559999704360962},{"id":"https://openalex.org/keywords/domain-of-attraction","display_name":"domain of attraction","score":0.8500000238418579},{"id":"https://openalex.org/keywords/inertia-wheel-pendulum","display_name":"inertia wheel pendulum","score":0.9929999709129333}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7741730213165283},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6826660633087158},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6288246512413025},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6288237571716309},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4137047529220581},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4016353487968445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3955034911632538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3940618336200714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3324795067310333},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24680325388908386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19201698899269104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16946345567703247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1533665955066681},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3182/20100901-3-it-2016.00256","doi":"https://doi.org/10.3182/20100901-3-it-2016.00256","is_oa":false,"landing_page_url":"https://doi.org/10.3182/20100901-3-it-2016.00256","pdf_url":null,"source":{"id":"https://openalex.org/S2898246533","display_name":"IFAC Proceedings Volumes","issn_l":"1474-6670","issn":["1474-6670","2589-3653"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC Proceedings Volumes","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313925","display_name":"De La Salle University","ror":"https://ror.org/04xftk194"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W157206788","https://openalex.org/W2048253740","https://openalex.org/W2081727243","https://openalex.org/W2101375620","https://openalex.org/W2102263452","https://openalex.org/W2111683789","https://openalex.org/W2112819598","https://openalex.org/W2116205167","https://openalex.org/W2125968092","https://openalex.org/W2127198539","https://openalex.org/W2128697043","https://openalex.org/W2141666025","https://openalex.org/W2143154180","https://openalex.org/W2462734713","https://openalex.org/W4246532743","https://openalex.org/W4247997648"],"related_works":["https://openalex.org/W1971358616","https://openalex.org/W2143195679","https://openalex.org/W2141666025","https://openalex.org/W3126608162","https://openalex.org/W2128697043","https://openalex.org/W2125486741","https://openalex.org/W1495559799","https://openalex.org/W3003999901","https://openalex.org/W2044649450","https://openalex.org/W2080078877"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}
