{"id":"https://openalex.org/W4327596384","doi":"https://doi.org/10.1017/s0263574723000280","title":"Design and validation of a novel adaptive motion control for a pendulum spherical robot","display_name":"Design and validation of a novel adaptive motion control for a pendulum spherical robot","publication_year":2023,"publication_date":"2023-03-16","ids":{"openalex":"https://openalex.org/W4327596384","doi":"https://doi.org/10.1017/s0263574723000280"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000280","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723000280","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5065569605","display_name":"Jianwen Huo","orcid":"https://orcid.org/0000-0002-4414-1484"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianwen Huo","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China"],"raw_orcid":"https://orcid.org/0000-0002-4414-1484","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102368692","display_name":"Rui Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Lin","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022663159","display_name":"Maotao Yang","orcid":"https://orcid.org/0000-0001-8119-748X"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maotao Yang","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5065569605"],"corresponding_institution_ids":["https://openalex.org/I1297991670"],"apc_list":null,"apc_paid":null,"fwci":0.3271,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53395788,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"41","issue":"7","first_page":"2031","last_page":"2049"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987999796867371,"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":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.828556478023529},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7055354118347168},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6017702221870422},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5531371235847473},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4875475764274597},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4784031808376312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46836555004119873},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.45499616861343384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40492701530456543},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3599303662776947},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2984012961387634},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19408762454986572},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.146389901638031},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1347525715827942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12053585052490234},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07758647203445435}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.828556478023529},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7055354118347168},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6017702221870422},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5531371235847473},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4875475764274597},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4784031808376312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46836555004119873},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.45499616861343384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40492701530456543},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3599303662776947},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2984012961387634},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19408762454986572},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.146389901638031},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1347525715827942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12053585052490234},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07758647203445435},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723000280","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723000280","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W139569857","https://openalex.org/W1995060319","https://openalex.org/W1999471622","https://openalex.org/W2007141417","https://openalex.org/W2021037358","https://openalex.org/W2036970490","https://openalex.org/W2040591779","https://openalex.org/W2042341308","https://openalex.org/W2072225778","https://openalex.org/W2084023361","https://openalex.org/W2089130332","https://openalex.org/W2103731312","https://openalex.org/W2151293459","https://openalex.org/W2165628888","https://openalex.org/W2230652337","https://openalex.org/W2331442942","https://openalex.org/W2349496196","https://openalex.org/W2552419051","https://openalex.org/W2788619482","https://openalex.org/W3011344384","https://openalex.org/W3142041998","https://openalex.org/W3188699987","https://openalex.org/W3208918812","https://openalex.org/W3215080014","https://openalex.org/W4205997815","https://openalex.org/W4233805831","https://openalex.org/W4281659317","https://openalex.org/W4298173534","https://openalex.org/W6986289940","https://openalex.org/W7004786735","https://openalex.org/W7026885837"],"related_works":["https://openalex.org/W2106586754","https://openalex.org/W2036009937","https://openalex.org/W2347322976","https://openalex.org/W2354203711","https://openalex.org/W2376683934","https://openalex.org/W2370564582","https://openalex.org/W2369744211","https://openalex.org/W2360747016","https://openalex.org/W3152555282","https://openalex.org/W2350319669"],"abstract_inverted_index":{"Abstract":[0],"Spherical":[1],"robots":[2],"(SRs)":[3],"have":[4],"the":[5,17,53,58,62,69,72,75,82,87,91,99,125,129,134,138,142,146,172,185],"characteristics":[6],"of":[7,19,61,71,86,93,101,117,128,141],"nonholonomic":[8,40],"constraints,":[9],"underactuation,":[10],"nonchain,":[11],"and":[12,21,164],"strong":[13],"coupling,":[14],"which":[15,43,105],"increase":[16],"difficulty":[18],"modeling":[20],"motion":[22,35,60,73,114,186],"control":[23,36,95,115,173,182],"compared":[24,153],"with":[25,137,154],"traditional":[26],"robots.":[27],"In":[28],"this":[29,150,177],"study,":[30],"we":[31],"develop":[32],"an":[33,44,112],"adaptive":[34,113],"scheme":[37,174],"for":[38],"a":[39],"SR,":[41],"in":[42,149,176],"omnidirectional":[45,59],"dynamic":[46,76,109],"model":[47,77,103,110],"is":[48,78,119,131,152],"carried":[49],"out":[50],"by":[51,98,108,133],"using":[52],"Euler\u2013Lagrange":[54],"method":[55],"to":[56,67,80],"describe":[57],"SR":[63,118],"more":[64],"accurately.":[65],"Furthermore,":[66],"facilitate":[68],"design":[70],"controller,":[74],"simplified":[79],"obtain":[81],"state":[83],"space":[84],"expression":[85],"SR.":[88],"Aiming":[89],"at":[90],"problem":[92],"poor":[94],"effect":[96],"caused":[97],"change":[100],"system":[102],"parameters":[104,187],"are":[106,188],"influenced":[107],"reduction,":[111],"law":[116],"designed":[120,148],"based":[121],"on":[122],"MRAC.":[123],"And":[124],"coefficient":[126],"adjustment":[127],"controller":[130,147],"obtained":[132],"Lyapunov":[135],"method,":[136],"guaranteed":[139],"stability":[140],"closed-loop":[143],"system.":[144],"Finally,":[145],"thesis":[151],"four":[155],"controllers":[156],"including":[157],"linear":[158],"quadratic":[159],"regulator,":[160],"Fuzzy":[161],"PID,":[162],"PSO-ADRC,":[163],"hierarchical":[165],"SMC.":[166],"The":[167],"experimental":[168],"comparison":[169],"proves":[170],"that":[171],"proposed":[175],"study":[178],"still":[179],"has":[180],"good":[181],"ability":[183],"when":[184],"disturbed.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}