{"id":"https://openalex.org/W3182799243","doi":"https://doi.org/10.1109/access.2021.3096138","title":"Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System","display_name":"Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3182799243","doi":"https://doi.org/10.1109/access.2021.3096138","mag":"3182799243"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3096138","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3096138","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09478840.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09478840.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024323175","display_name":"Mario Ram\u00edrez\u2010Neria","orcid":"https://orcid.org/0000-0001-5935-9083"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Mario Ramirez-Neria","raw_affiliation_strings":["InIAT Instituto de Investigaci\u00f3n Aplicada y Tecnolog\u00eda, Universidad Iberoamericana Ciudad de M\u00e9xico, Ciudad de Mexico, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"InIAT Instituto de Investigaci\u00f3n Aplicada y Tecnolog\u00eda, Universidad Iberoamericana Ciudad de M\u00e9xico, Ciudad de Mexico, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063782677","display_name":"H. Sira\u2010Ram\u00edrez","orcid":"https://orcid.org/0000-0003-0118-4764"},"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"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Hebertt Sira-Ramirez","raw_affiliation_strings":["Electrical Engineering Department, Mechatronics Section, Cinvestav-IPN, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Mechatronics Section, Cinvestav-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046729619","display_name":"R. Garrido","orcid":"https://orcid.org/0000-0002-6227-2779"},"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"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ruben Garrido-Moctezuma","raw_affiliation_strings":["Automatic Control Department, Cinvestav-IPN, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-6227-2779","affiliations":[{"raw_affiliation_string":"Automatic Control Department, Cinvestav-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011197437","display_name":"Alberto Luviano\u2010Ju\u00e1rez","orcid":"https://orcid.org/0000-0001-8790-4165"},"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":"Alberto Luviano-Juarez","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional\u2013UPIITA, Ciudad de Mexico, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-8790-4165","affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional\u2013UPIITA, Ciudad de Mexico, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102994363","display_name":"Zhiqiang Gao","orcid":"https://orcid.org/0000-0003-1917-8311"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiqiang Gao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Center for Advanced Control Technologies, Cleveland State University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-1917-8311","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Center for Advanced Control Technologies, Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6241,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8333837,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"102663","last_page":"102670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical 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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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":0.8614857792854309},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.7048010230064392},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7009583711624146},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.683056652545929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6031904220581055},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4977264702320099},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49093058705329895},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.4801863431930542},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4797447919845581},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45660996437072754},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.452591210603714},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45009854435920715},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43453067541122437},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.41719913482666016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30388349294662476},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23692461848258972},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19226834177970886},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19019904732704163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17724257707595825}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8614857792854309},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7048010230064392},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7009583711624146},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.683056652545929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6031904220581055},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4977264702320099},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49093058705329895},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.4801863431930542},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4797447919845581},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45660996437072754},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.452591210603714},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45009854435920715},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43453067541122437},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.41719913482666016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30388349294662476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23692461848258972},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19226834177970886},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19019904732704163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17724257707595825},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3096138","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3096138","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09478840.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:15c5fb32c2aa485fa48a51e181da173d","is_oa":true,"landing_page_url":"https://doaj.org/article/15c5fb32c2aa485fa48a51e181da173d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 102663-102670 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3096138","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3096138","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09478840.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4001268068","display_name":null,"funder_award_id":"SIP 20210259","funder_id":"https://openalex.org/F4320324201","funder_display_name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional"}],"funders":[{"id":"https://openalex.org/F4320310986","display_name":"Universidad Iberoamericana Ciudad de M\u00e9xico","ror":"https://ror.org/05vss7635"},{"id":"https://openalex.org/F4320321694","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"},{"id":"https://openalex.org/F4320324201","display_name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3182799243.pdf","grobid_xml":"https://content.openalex.org/works/W3182799243.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W120243950","https://openalex.org/W582265575","https://openalex.org/W1559327333","https://openalex.org/W1592483312","https://openalex.org/W1977277930","https://openalex.org/W1996663680","https://openalex.org/W2005767583","https://openalex.org/W2006171470","https://openalex.org/W2041521369","https://openalex.org/W2057140161","https://openalex.org/W2065297540","https://openalex.org/W2091661752","https://openalex.org/W2105149502","https://openalex.org/W2111683789","https://openalex.org/W2128592712","https://openalex.org/W2135493101","https://openalex.org/W2137983719","https://openalex.org/W2163996780","https://openalex.org/W2174733634","https://openalex.org/W2317934000","https://openalex.org/W2493079683","https://openalex.org/W2515760554","https://openalex.org/W2537996718","https://openalex.org/W2766373535","https://openalex.org/W2775886780","https://openalex.org/W2908645415","https://openalex.org/W2956087564","https://openalex.org/W2968930502","https://openalex.org/W2971711619","https://openalex.org/W3013439889","https://openalex.org/W3014211024","https://openalex.org/W3048457923","https://openalex.org/W3081230670","https://openalex.org/W3097277239","https://openalex.org/W3123054758","https://openalex.org/W3197061749","https://openalex.org/W6680176127"],"related_works":["https://openalex.org/W4386630647","https://openalex.org/W3129061494","https://openalex.org/W2088134843","https://openalex.org/W2529889974","https://openalex.org/W4382702321","https://openalex.org/W3098571475","https://openalex.org/W3203846806","https://openalex.org/W2972482874","https://openalex.org/W4309868962","https://openalex.org/W3035652546"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3],"Extended":[4],"State":[5],"Observer":[6],"(ESO)":[7],"based":[8],"Active":[9],"Disturbance":[10],"Rejection":[11],"Control":[12],"(ADRC)":[13],"scheme":[14,37,78],"is":[15,79],"applied":[16],"to":[17,33,83],"the":[18,30,35,41,58,62,67,70,73],"Pendubot":[19],"system":[20,31,60,71],"for":[21],"a":[22,47,54],"trajectory":[23],"tracking":[24,85],"tasks.":[25],"The":[26,50,77],"tangent":[27],"linearization":[28],"of":[29,40,57,69],"allows":[32],"implement":[34],"control":[36,63],"taking":[38],"advantage":[39],"differential":[42],"flatness":[43],"property,":[44],"while":[45],"including":[46],"cascade":[48],"configuration.":[49],"proposed":[51],"method":[52],"assumes":[53],"limited":[55],"knowledge":[56],"underactuated":[59],"where":[61],"input":[64],"gain":[65],"and":[66],"order":[68],"are":[72],"only":[74],"needed":[75],"data.":[76],"experimentally":[80],"tested":[81],"leading":[82],"accurate":[84],"results.":[86]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
