{"id":"https://openalex.org/W2767263018","doi":"https://doi.org/10.1080/01691864.2017.1399825","title":"Adaptive intelligent cascade control of a ball-riding robot for optimal balancing and station-keeping","display_name":"Adaptive intelligent cascade control of a ball-riding robot for optimal balancing and station-keeping","publication_year":2017,"publication_date":"2017-11-10","ids":{"openalex":"https://openalex.org/W2767263018","doi":"https://doi.org/10.1080/01691864.2017.1399825","mag":"2767263018"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2017.1399825","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1399825","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","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/A5010524301","display_name":"Omer Saleem","orcid":"https://orcid.org/0000-0003-2197-9302"},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":true,"raw_author_name":"Omer Saleem Bhatti","raw_affiliation_strings":["Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043923553","display_name":"Osama Bin Tariq","orcid":"https://orcid.org/0000-0001-5398-4072"},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Osama Bin Tariq","raw_affiliation_strings":["Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025861846","display_name":"Aneeq Manzar","orcid":null},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Aneeq Manzar","raw_affiliation_strings":["Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078905709","display_name":"Ozair Ali Khan","orcid":null},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Ozair Ali Khan","raw_affiliation_strings":["Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010524301"],"corresponding_institution_ids":["https://openalex.org/I201384688"],"apc_list":null,"apc_paid":null,"fwci":1.2232,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.81214836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"32","issue":"2","first_page":"63","last_page":"76"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9965999722480774,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"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/control-theory","display_name":"Control theory (sociology)","score":0.8242412805557251},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6575648188591003},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.562013566493988},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5618072152137756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5223087668418884},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5186121463775635},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.4867374897003174},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4708152413368225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4387701749801636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4179501533508301},{"id":"https://openalex.org/keywords/operability","display_name":"Operability","score":0.4171516001224518},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.41213083267211914},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18657958507537842},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15254956483840942}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8242412805557251},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6575648188591003},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.562013566493988},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5618072152137756},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5223087668418884},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5186121463775635},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.4867374897003174},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4708152413368225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4387701749801636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4179501533508301},{"id":"https://openalex.org/C126231374","wikidata":"https://www.wikidata.org/wiki/Q1061298","display_name":"Operability","level":2,"score":0.4171516001224518},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.41213083267211914},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18657958507537842},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15254956483840942},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2017.1399825","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1399825","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W633766628","https://openalex.org/W1561407645","https://openalex.org/W1598256120","https://openalex.org/W1977633044","https://openalex.org/W1985009583","https://openalex.org/W2021629099","https://openalex.org/W2040472599","https://openalex.org/W2041590735","https://openalex.org/W2113068642","https://openalex.org/W2117544029","https://openalex.org/W2123860492","https://openalex.org/W2141309239","https://openalex.org/W2143568345","https://openalex.org/W2145448632","https://openalex.org/W2199469292","https://openalex.org/W2211003821","https://openalex.org/W2295078452","https://openalex.org/W2332605598","https://openalex.org/W2515948452","https://openalex.org/W2528234499","https://openalex.org/W2550759882","https://openalex.org/W2578816080","https://openalex.org/W3110471395","https://openalex.org/W3142707146","https://openalex.org/W4210812484","https://openalex.org/W4232993041"],"related_works":["https://openalex.org/W2045316876","https://openalex.org/W2736987351","https://openalex.org/W2025974577","https://openalex.org/W4224268942","https://openalex.org/W3046079087","https://openalex.org/W2006227854","https://openalex.org/W2364124278","https://openalex.org/W2734611617","https://openalex.org/W2113348537","https://openalex.org/W2144420010"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,116],"adaptive":[4],"intelligent":[5],"cascade":[6,69],"control":[7,51],"strategy":[8],"to":[9,50,70,85,126,144],"maintain":[10,71],"the":[11,23,64,68,72,82,87,134,146,149,154],"dynamic":[12],"stability":[13],"of":[14,39,67,107,139,148],"a":[15,29,37,101],"ball-riding":[16],"robot":[17,24],"(BRR).":[18],"The":[19,32,94,105,121,137],"four-wheeled":[20],"mechanism":[21],"beneath":[22],"body":[25],"balances":[26],"it":[27],"on":[28],"spherical":[30],"wheel.":[31],"BRR":[33],"is":[34,61,79],"modeled":[35],"as":[36],"combination":[38],"two":[40,45],"decoupled":[41],"inverted":[42],"pendulums.":[43],"Therefore,":[44],"independent":[46],"controllers":[47],"are":[48,97,112,142],"used":[49,80],"its":[52,91],"pitch":[53],"and":[54,131],"roll":[55],"rotations.":[56],"An":[57],"incremental":[58],"proportional\u2013integral\u2013derivative":[59],"(PID)":[60],"implemented":[62],"in":[63,81,128],"inner":[65],"loop":[66,84],"vertical":[73],"balance.":[74],"A":[75],"generic":[76],"PD":[77],"controller":[78,95,123,152],"outer":[83],"keep":[86],"station":[88],"by":[89],"controlling":[90],"spatial":[92],"position.":[93],"parameters":[96],"automatically":[98],"tuned":[99],"via":[100,115],"fuzzy":[102,108],"adaptation":[103],"mechanism.":[104],"centers":[106],"output":[109],"membership":[110],"functions":[111],"dynamically":[113],"updated":[114],"extended":[117],"Kalman":[118],"filter":[119],"(EKF).":[120],"proposed":[122,150],"quickly":[124],"responds":[125],"changes":[127],"system\u2019s":[129],"state":[130],"effectively":[132],"rejects":[133],"exogenous":[135],"disturbances.":[136],"results":[138],"real-time":[140],"experiments":[141],"presented":[143],"validate":[145],"effectiveness":[147],"hybrid":[151],"over":[153],"conventional":[155],"classical":[156],"controllers.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}