{"id":"https://openalex.org/W7128608787","doi":"https://doi.org/10.1080/00207179.2026.2625798","title":"Speed regulation of a self-balancing robot by energy shaping","display_name":"Speed regulation of a self-balancing robot by energy shaping","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7128608787","doi":"https://doi.org/10.1080/00207179.2026.2625798"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2026.2625798","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2026.2625798","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125657724","display_name":"Isaac Gandarilla","orcid":null},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Isaac Gandarilla","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de La Laguna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047350989","display_name":"V. Santibanez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V\u00edctor Santib\u00e1\u00f1ez","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de La Laguna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Laguna","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125675790","display_name":"Jes\u00fas Sandoval","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154508","display_name":"Instituto Tecnol\u00f3gico de La Paz","ror":"https://ror.org/0460tzy11","country_code":null,"type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4387154508","https://openalex.org/I4405258672"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Jes\u00fas Sandoval","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de La Paz"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de La Paz","institution_ids":["https://openalex.org/I4387154508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5125657724"],"corresponding_institution_ids":["https://openalex.org/I4210095469"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15762269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"99","issue":"6","first_page":"1957","last_page":"1971"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.1817999929189682,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13644","display_name":"Control Systems in Engineering","score":0.1817999929189682,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.08009999990463257,"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":0.0714000016450882,"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/robot","display_name":"Robot","score":0.629800021648407},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6057000160217285},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4864000082015991},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.319599986076355},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.3041999936103821},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.29829999804496765},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.2896000146865845}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.629800021648407},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6057000160217285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5425999760627747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5149000287055969},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4864000082015991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36239999532699585},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28029999136924744},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.27489998936653137},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207179.2026.2625798","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2026.2625798","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},{"id":"pmh:doi:10.6084/m9.figshare.31320817","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Figure"}],"best_oa_location":{"id":"pmh:doi:10.6084/m9.figshare.31320817","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Figure"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8080284595489502}],"awards":[{"id":"https://openalex.org/G2923725358","display_name":null,"funder_award_id":"I1200/311/2023","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W394375848","https://openalex.org/W2048603489","https://openalex.org/W2067277252","https://openalex.org/W2102263452","https://openalex.org/W2125968092","https://openalex.org/W2144955385","https://openalex.org/W2310008819","https://openalex.org/W2344467955","https://openalex.org/W2527753857","https://openalex.org/W2734362612","https://openalex.org/W2792603842","https://openalex.org/W2889191451","https://openalex.org/W2904960987","https://openalex.org/W2939366215","https://openalex.org/W2945827375","https://openalex.org/W3023690151","https://openalex.org/W3088402217","https://openalex.org/W3111598693","https://openalex.org/W3140048224","https://openalex.org/W3192307041","https://openalex.org/W3195768804","https://openalex.org/W4241678308","https://openalex.org/W4298007338","https://openalex.org/W4411035249","https://openalex.org/W4411975553"],"related_works":[],"abstract_inverted_index":{"The":[0],"self-balancing":[1,36],"robot":[2,37],"is":[3],"a":[4,39,55,69,78,84,95],"mobile":[5],"platform":[6],"extensively":[7],"utilised":[8],"in":[9,47,107,117,141,147],"the":[10,20,35,44,64,113,134,138,148],"formulation":[11],"of":[12,112,137],"control":[13,22,30],"algorithms":[14],"targeting":[15],"position":[16],"regulation.":[17],"Contrary":[18],"to":[19,33,60,77,105],"aforementioned":[21],"objective,":[23],"this":[24],"paper":[25],"presents":[26],"an":[27,48,108],"energy":[28,71],"shaping":[29,72],"strategy":[31,57],"designed":[32],"drive":[34],"at":[38],"predetermined":[40],"velocity":[41],"while":[42],"ensuring":[43],"pendulum":[45],"remains":[46],"upright":[49],"vertical":[50],"position.":[51],"This":[52,101],"work":[53],"introduces":[54],"novel":[56,102],"that":[58,89],"allows":[59,104],"simplify":[61],"and":[62,88],"solve":[63,106],"matching":[65,114],"equations,":[66,115],"resulting":[67],"from":[68],"Genuine-Hamiltonian":[70],"position/velocity":[73],"regulation":[74],"controller,":[75],"applied":[76],"self":[79],"balancing":[80],"robot,":[81],"which":[82,116],"has":[83],"non\u2013constant":[85],"inertia":[86],"matrix":[87],"can":[90],"not":[91],"be":[92],"transformed":[93],"into":[94],"constant":[96],"one":[97],"via":[98],"partial":[99,122],"linearisation.":[100],"technique":[103],"algebraic":[109],"form":[110],"some":[111],"general,":[118],"are":[119],"described":[120],"by":[121],"differential":[123],"equations":[124],"(PDEs),":[125],"simplifying":[126],"their":[127],"solutions.":[128],"Comparative":[129],"real-time":[130],"experimental":[131],"results":[132],"illustrate":[133],"satisfactory":[135],"performance":[136],"proposed":[139],"controller":[140],"comparison":[142],"with":[143],"other":[144],"controllers":[145],"already":[146],"literature.":[149]},"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2026-02-12T00:00:00"}