{"id":"https://openalex.org/W2341431567","doi":"https://doi.org/10.1080/10798587.2015.1121618","title":"Two adaptive control strategies for trajectory tracking of the inertia wheel pendulum: neural networks <i>vis \u00e0 vis</i> model regressor","display_name":"Two adaptive control strategies for trajectory tracking of the inertia wheel pendulum: neural networks <i>vis \u00e0 vis</i> model regressor","publication_year":2016,"publication_date":"2016-01-14","ids":{"openalex":"https://openalex.org/W2341431567","doi":"https://doi.org/10.1080/10798587.2015.1121618","mag":"2341431567"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.2015.1121618","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.2015.1121618","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","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/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Ave. Instituto Polit\u00e9cnico Nacional 1310, Nueva Tijuana, Tijuana, B.C., M\u00e9xico, 22435"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Ave. Instituto Polit\u00e9cnico Nacional 1310, Nueva Tijuana, Tijuana, B.C., M\u00e9xico, 22435","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007728434","display_name":"Carlos Aguilar-Avelar","orcid":"https://orcid.org/0000-0001-5516-7391"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Carlos Aguilar-Avelar","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Ave. Instituto Polit\u00e9cnico Nacional 1310, Nueva Tijuana, Tijuana, B.C., M\u00e9xico, 22435"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Ave. Instituto Polit\u00e9cnico Nacional 1310, Nueva Tijuana, Tijuana, B.C., M\u00e9xico, 22435","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004825688","display_name":"Sergio Puga-Guz\u1e3fan","orcid":"https://orcid.org/0000-0001-8733-1870"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]},{"id":"https://openalex.org/I4210118730","display_name":"Instituto Tecnol\u00f3gico de Tijuana","ror":"https://ror.org/03dga7879","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118730"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Sergio Puga-Guzm\u00e1n","raw_affiliation_strings":["Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de Tijuana, Blvd. Industrial y Av. ITR Tijuana S/N, Cd. Industrial de Mesa de Otay, Tijuana, B.C., M\u00e9xico, 22500"],"affiliations":[{"raw_affiliation_string":"Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de Tijuana, Blvd. Industrial y Av. ITR Tijuana S/N, Cd. Industrial de Mesa de Otay, Tijuana, B.C., M\u00e9xico, 22500","institution_ids":["https://openalex.org/I4210118730","https://openalex.org/I4210090124"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007101144","display_name":"V\u00edctor Santib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-0870-8615"},"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/I4413696010"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V\u00edctor Santib\u00e1\u00f1ez","raw_affiliation_strings":["Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah, M\u00e9xico, 27000"],"affiliations":[{"raw_affiliation_string":"Tecnol\u00f3gico Nacional de M\u00e9xico, Instituto Tecnol\u00f3gico de La Laguna, Blvd. Revoluci\u00f3n y Cuauht\u00e9moc, Torre\u00f3n, Coah, M\u00e9xico, 27000","institution_ids":["https://openalex.org/I4210095469","https://openalex.org/I4210090124"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002712538"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":2.9459,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.910947,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"63","last_page":"73"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9986000061035156,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.8496694564819336},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.7525235414505005},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7032215595245361},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6750779747962952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6492257714271545},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6282245516777039},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5902059078216553},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4940212368965149},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.47839534282684326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2974030375480652},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1006714403629303}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8496694564819336},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.7525235414505005},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7032215595245361},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6750779747962952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6492257714271545},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6282245516777039},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5902059078216553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4940212368965149},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.47839534282684326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2974030375480652},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1006714403629303},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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:10.1080/10798587.2015.1121618","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.2015.1121618","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W984966467","https://openalex.org/W1500504700","https://openalex.org/W1517236425","https://openalex.org/W1529727201","https://openalex.org/W1542977439","https://openalex.org/W1552981151","https://openalex.org/W1713486301","https://openalex.org/W1968222391","https://openalex.org/W1968270088","https://openalex.org/W1977279186","https://openalex.org/W1979660814","https://openalex.org/W1980115907","https://openalex.org/W1988560433","https://openalex.org/W1991251721","https://openalex.org/W1992037392","https://openalex.org/W1992171281","https://openalex.org/W1994294020","https://openalex.org/W2013465274","https://openalex.org/W2017564142","https://openalex.org/W2018496321","https://openalex.org/W2031366685","https://openalex.org/W2034903360","https://openalex.org/W2037365904","https://openalex.org/W2041521369","https://openalex.org/W2063274309","https://openalex.org/W2066724084","https://openalex.org/W2074833352","https://openalex.org/W2076841780","https://openalex.org/W2077739875","https://openalex.org/W2080972508","https://openalex.org/W2087364755","https://openalex.org/W2090548361","https://openalex.org/W2098615014","https://openalex.org/W2103414952","https://openalex.org/W2109177183","https://openalex.org/W2111934305","https://openalex.org/W2116682235","https://openalex.org/W2117314070","https://openalex.org/W2121643293","https://openalex.org/W2124776405","https://openalex.org/W2128411881","https://openalex.org/W2132347660","https://openalex.org/W2142349291","https://openalex.org/W2149126239","https://openalex.org/W2152724524","https://openalex.org/W2157018854","https://openalex.org/W2169007966","https://openalex.org/W2179581445","https://openalex.org/W2285257517","https://openalex.org/W2532558030","https://openalex.org/W3159233203","https://openalex.org/W4292408404"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W2120821724","https://openalex.org/W2482919532","https://openalex.org/W2379529020","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402"],"abstract_inverted_index":{"AbstractThe":[0],"problem":[1,54],"addressed":[2],"in":[3],"this":[4],"paper":[5],"is":[6,34,55,83,88],"to":[7,90,110],"achieve":[8],"robust":[9,38],"motion":[10],"control":[11,21,53],"of":[12,22,25,31,60,78,94,125],"the":[13,23,26,29,52,79,95,101,119,123,132],"inertia":[14],"wheel":[15,102],"pendulum":[16,24,96],"(IWP).":[17],"Specifically,":[18],"trajectory":[19],"tracking":[20,97],"IWP":[27],"under":[28],"assumption":[30],"uncertain":[32],"model":[33],"discussed.":[35],"Two":[36],"new":[37,134],"algorithms":[39],"are":[40,108,137],"introduced":[41,120],"whose":[42],"design":[43],"departs":[44],"from":[45],"a":[46,126],"model-based":[47],"input-output":[48],"linearization":[49],"controller.":[50,72],"Then,":[51],"firstly":[56],"solved":[57],"by":[58,68],"means":[59],"an":[61,69],"adaptive":[62,70,105,135],"neural":[63],"network-based":[64],"controller":[65,130],"and":[66,104,131],"secondly":[67],"regressor-based":[71],"For":[73],"both":[74],"controllers,":[75],"rigorous":[76],"analysis":[77],"respective":[80],"closed-loop":[81],"system":[82],"given,":[84],"where":[85,122],"Barbalat\u2019s":[86],"lemma":[87],"used":[89],"conclude":[91],"asymptotic":[92],"convergence":[93],"error.":[98],"In":[99],"addition,":[100],"velocity":[103],"extension":[106],"signals":[107],"shown":[109],"be":[111],"bounded.":[112],"An":[113],"extensive":[114],"real-time":[115],"experimental":[116],"study":[117],"validates":[118],"theory,":[121],"performance":[124],"classical":[127],"linear":[128],"PID":[129],"two":[133],"schemes":[136],"compared.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
