{"id":"https://openalex.org/W4386232320","doi":"https://doi.org/10.1109/access.2023.3308948","title":"ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot","display_name":"ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386232320","doi":"https://doi.org/10.1109/access.2023.3308948"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3308948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3308948","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10231152.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":null,"license_id":null,"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/ielx7/6287639/6514899/10231152.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058434684","display_name":"German Ardul Mu\u00f1oz-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0003-4861-0345"},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"G. A. Mu\u00f1oz-Hernandez","raw_affiliation_strings":["Faculty of Electronic Sciences, Meritorious Autonomous University of Puebla, Puebla, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-4861-0345","affiliations":[{"raw_affiliation_string":"Faculty of Electronic Sciences, Meritorious Autonomous University of Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I721619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075215088","display_name":"J. D\u00edaz-T\u00e9llez","orcid":"https://orcid.org/0000-0003-2095-7881"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J. D\u00edaz-T\u00e9llez","raw_affiliation_strings":["Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-2095-7881","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071049106","display_name":"J. Estevez-Carreon","orcid":"https://orcid.org/0000-0002-2549-3345"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jaime Estevez-Carreon","raw_affiliation_strings":["Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-2549-3345","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088801599","display_name":"Rub\u00e9n Sen\u00e9n Garc\u00eda-Ram\u00edrez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. S. Garc\u00eda-Ram\u00edrez","raw_affiliation_strings":["Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, National Technological Institute of Mexico, Technological Institute of Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058434684"],"corresponding_institution_ids":["https://openalex.org/I721619"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.1521,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87469205,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"94636","last_page":"94646"},"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":0.9957000017166138,"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":0.9957000017166138,"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":0.9923999905586243,"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":0.988099992275238,"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":0.6486552357673645},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5383160710334778},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5214083194732666},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5019721984863281},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4653030037879944},{"id":"https://openalex.org/keywords/control-unit","display_name":"Control unit","score":0.46020573377609253},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.45037946105003357},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39871689677238464},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38078054785728455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20435741543769836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15815722942352295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13439711928367615}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6486552357673645},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5383160710334778},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5214083194732666},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5019721984863281},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4653030037879944},{"id":"https://openalex.org/C81988521","wikidata":"https://www.wikidata.org/wiki/Q676838","display_name":"Control unit","level":2,"score":0.46020573377609253},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.45037946105003357},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39871689677238464},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38078054785728455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20435741543769836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15815722942352295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13439711928367615},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3308948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3308948","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10231152.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2c1ccf0c7f07404599169e03e634b95d","is_oa":true,"landing_page_url":"https://doaj.org/article/2c1ccf0c7f07404599169e03e634b95d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 94636-94646 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3308948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3308948","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10231152.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323791","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386232320.pdf","grobid_xml":"https://content.openalex.org/works/W4386232320.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W589111086","https://openalex.org/W2045526441","https://openalex.org/W2056383777","https://openalex.org/W2058006327","https://openalex.org/W2076420009","https://openalex.org/W2112632589","https://openalex.org/W2119936308","https://openalex.org/W2120499270","https://openalex.org/W2149553777","https://openalex.org/W2157058328","https://openalex.org/W2465635934","https://openalex.org/W2511567078","https://openalex.org/W2515691660","https://openalex.org/W2581117323","https://openalex.org/W2735993405","https://openalex.org/W2783022982","https://openalex.org/W2792603842","https://openalex.org/W2814518774","https://openalex.org/W2889307479","https://openalex.org/W2891333021","https://openalex.org/W2910054127","https://openalex.org/W2936528050","https://openalex.org/W2983645305","https://openalex.org/W2991214670","https://openalex.org/W2991482823","https://openalex.org/W2998123264","https://openalex.org/W3034226296","https://openalex.org/W3085474665","https://openalex.org/W3105064013","https://openalex.org/W3156569183","https://openalex.org/W3176725801","https://openalex.org/W3178388961","https://openalex.org/W3205835814","https://openalex.org/W3208017872","https://openalex.org/W4200007842","https://openalex.org/W4206662040","https://openalex.org/W4250426024","https://openalex.org/W4280606352","https://openalex.org/W4285110901","https://openalex.org/W4297099637","https://openalex.org/W4313009956","https://openalex.org/W4320058686","https://openalex.org/W4324119312"],"related_works":["https://openalex.org/W3129061494","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","https://openalex.org/W4200632775","https://openalex.org/W1994244201"],"abstract_inverted_index":{"In":[0],"this":[1],"investigation,":[2],"ROS-based":[3],"robust":[4,135],"attitude":[5],"control":[6,21,136,198],"is":[7,128,138,176,200],"designed":[8,25,66,139],"for":[9,32,67],"a":[10,76,80,85,119],"two-wheeled":[11],"self-balancing":[12],"mobile":[13],"robot":[14,35,64],"(TWSBR)":[15],"using":[16],"the":[17,33,45,109,115,131,141,146,173,179,190],"active":[18],"disturbance":[19],"rejection":[20,193],"(ADRC)":[22],"technique.":[23],"The":[24,52,62,134,151,170,197],"ROS":[26],"framework":[27,39],"contemplates":[28],"communication":[29],"between":[30],"topics":[31],"desired":[34],"commands":[36,90],"and":[37,50,60,118,159,167,192,202,206],"distributed":[38],"design.":[40],"This":[41],"open":[42],"architecture":[43,53],"allows":[44],"integration":[46],"of":[47,172,194],"sensors,":[48],"actuators,":[49],"processors.":[51],"includes":[54],"User-Friendly":[55],"Interface,":[56],"storage,":[57],"navigation,":[58],"control,":[59],"drivers.":[61],"low-cost":[63],"was":[65],"educational":[68],"purposes.":[69],"It":[70],"uses":[71],"an":[72,93],"Arduino":[73],"Mega":[74],"as":[75,84,114,130,163],"low-level":[77],"processing":[78],"unit,":[79],"Raspberry":[81],"Pi":[82],"4":[83],"companion":[86],"computer":[87,213],"where":[88],"high-level":[89],"are":[91,186],"processed,":[92],"MPU6050":[94],"Inertial":[95],"Measurement":[96],"Unit":[97],"sensor,":[98],"DC":[99],"motors":[100],"GW4058-555":[101],"with":[102,106,211],"quadrature":[103],"type":[104],"encoder":[105],"two":[107],"phases,":[108],"VNH2SP30":[110],"controller":[111,175],"module":[112],"used":[113,129],"power":[116,132],"stage":[117],"Lithium":[120],"Polymer":[121],"(Li-Po)":[122],"battery":[123],"(11.1":[124],"V,":[125],"2200":[126],"mah)":[127],"source.":[133],"algorithm":[137,199],"through":[140],"ADRC":[142],"methodology":[143],"based":[144],"on":[145],"extended":[147],"state":[148],"observer":[149],"(ESO).":[150],"ESO":[152],"simultaneously":[153],"estimates":[154],"external":[155,195],"disturbances,":[156],"model":[157],"uncertainties,":[158],"unmodeled":[160],"dynamics":[161],"such":[162],"friction,":[164],"engine":[165],"wear,":[166],"tire":[168],"slippage.":[169],"stability":[171,181],"developed":[174],"analyzed":[177],"via":[178],"Lyapunov":[180],"theory.":[182],"Real-time":[183],"experimental":[184],"results":[185],"carried":[187],"out":[188],"under":[189],"regulation":[191],"disturbances.":[196],"light":[201],"easy":[203],"to":[204],"implement":[205],"adjust":[207],"in":[208],"integrated":[209],"systems":[210],"low":[212],"resources.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}