{"id":"https://openalex.org/W7131636246","doi":"https://doi.org/10.1016/j.jfranklin.2026.108551","title":"Trajectory tracking of Two-Wheeled Self-Balancing Mobile Robots using MPPF-constrained HSMC and interval Type-2 Fuzzy Logic","display_name":"Trajectory tracking of Two-Wheeled Self-Balancing Mobile Robots using MPPF-constrained HSMC and interval Type-2 Fuzzy Logic","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131636246","doi":"https://doi.org/10.1016/j.jfranklin.2026.108551"},"language":"en","primary_location":{"id":"doi:10.1016/j.jfranklin.2026.108551","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108551","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"Journal of the Franklin Institute","raw_type":"journal-article"},"type":"article","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/A5109543663","display_name":"Dinh-Hieu Pham","orcid":null},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Dinh-Hieu Pham","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126897672","display_name":"Duc-Huy Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Duc-Huy Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068475625","display_name":"Minh-Khoi Pham","orcid":"https://orcid.org/0000-0003-3211-9076"},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Minh-Khoi Pham","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073761189","display_name":"Thi-Van-Anh Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Thi-Van-Anh Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073761189"],"corresponding_institution_ids":["https://openalex.org/I94518387"],"apc_list":{"value":2700,"currency":"USD","value_usd":2700},"apc_paid":null,"fwci":23.8827,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.99195253,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"363","issue":"6","first_page":"108551","last_page":"108551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.5595999956130981,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.5595999956130981,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.21719999611377716,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.07050000131130219,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.857699990272522},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6984999775886536},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6904000043869019},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5740000009536743},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5565999746322632},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4794999957084656},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45489999651908875},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41200000047683716}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.857699990272522},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6984999775886536},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6904000043869019},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5740000009536743},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5565999746322632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48739999532699585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45489999651908875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44119998812675476},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.40869998931884766},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.40220001339912415},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3569999933242798},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3515999913215637},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3456999957561493},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.32409998774528503},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.29600000381469727},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2825999855995178},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.jfranklin.2026.108551","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108551","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"Journal of the Franklin Institute","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4008204936981201,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W394375848","https://openalex.org/W2070100112","https://openalex.org/W2072857324","https://openalex.org/W2092965146","https://openalex.org/W2143760316","https://openalex.org/W2581117323","https://openalex.org/W2695358573","https://openalex.org/W2760119996","https://openalex.org/W2766201984","https://openalex.org/W2800909390","https://openalex.org/W2808730445","https://openalex.org/W2900359776","https://openalex.org/W2915980336","https://openalex.org/W2921325762","https://openalex.org/W2951213374","https://openalex.org/W2999026092","https://openalex.org/W3010375020","https://openalex.org/W3019726439","https://openalex.org/W3116675771","https://openalex.org/W3185036900","https://openalex.org/W3210859816","https://openalex.org/W4200624682","https://openalex.org/W4205358063","https://openalex.org/W4214486151","https://openalex.org/W4223625674","https://openalex.org/W4223923077","https://openalex.org/W4293173910","https://openalex.org/W4304175541","https://openalex.org/W4312105605","https://openalex.org/W4312454888","https://openalex.org/W4312462107","https://openalex.org/W4363672915","https://openalex.org/W4379793364","https://openalex.org/W4386054863","https://openalex.org/W4386232320","https://openalex.org/W4387350711","https://openalex.org/W4391265101","https://openalex.org/W4391909201","https://openalex.org/W4396581095","https://openalex.org/W4399774430","https://openalex.org/W4400071815","https://openalex.org/W4400697984","https://openalex.org/W4402115218","https://openalex.org/W4402401530","https://openalex.org/W4403674591","https://openalex.org/W4404238005","https://openalex.org/W4405869567","https://openalex.org/W4406590508","https://openalex.org/W4410312684","https://openalex.org/W4410571051","https://openalex.org/W4415031486"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2026-02-27T00:00:00"}
