{"id":"https://openalex.org/W2143202895","doi":"https://doi.org/10.1109/cdc.2007.4434614","title":"Landing posture control of a generalized 5-RDOF twin-body system via methods of input-output linearization and PD control","display_name":"Landing posture control of a generalized 5-RDOF twin-body system via methods of input-output linearization and PD control","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2143202895","doi":"https://doi.org/10.1109/cdc.2007.4434614","mag":"2143202895"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-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/A5032236882","display_name":"Eileen Chih-Ying Yang","orcid":"https://orcid.org/0000-0002-8862-2888"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","TW"],"is_corresponding":true,"raw_author_name":"Yi-Ling Yang","raw_affiliation_strings":["Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","Nat. Tsinghua Univ., Hsinchu"],"affiliations":[{"raw_affiliation_string":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"Nat. Tsinghua Univ., Hsinchu","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045498550","display_name":"Cheng-Cheng Yang","orcid":"https://orcid.org/0000-0002-8103-6421"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["CN","TW"],"is_corresponding":false,"raw_author_name":"Cheng-Cheng Yang","raw_affiliation_strings":["Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","Nat. Tsinghua Univ., Hsinchu"],"affiliations":[{"raw_affiliation_string":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"Nat. Tsinghua Univ., Hsinchu","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071654078","display_name":"Paul C.-P. Chao","orcid":"https://orcid.org/0000-0003-2835-9157"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Paul C.-P. Chao","raw_affiliation_strings":["Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110050779","display_name":"Cheng-Kuo Sung","orcid":null},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cheng-Kuo Sung","raw_affiliation_strings":["Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","Department of Power Mechanical Engineering,National Tsing Hua University,Hsinchu 300, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"Department of Power Mechanical Engineering,National Tsing Hua University,Hsinchu 300, Taiwan","institution_ids":["https://openalex.org/I25846049"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032236882"],"corresponding_institution_ids":["https://openalex.org/I25846049","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.7418,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88410667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1681","last_page":"1686"},"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9930999875068665,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9923999905586243,"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":0.8648850917816162},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6831594705581665},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5906782150268555},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5793592929840088},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5032379031181335},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5030040144920349},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.47761270403862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46365201473236084},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4490884840488434},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39679813385009766},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3633635938167572},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.33215364813804626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2701946496963501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22491779923439026},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07259020209312439}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8648850917816162},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6831594705581665},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5906782150268555},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5793592929840088},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5032379031181335},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5030040144920349},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.47761270403862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46365201473236084},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4490884840488434},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39679813385009766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3633635938167572},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.33215364813804626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2701946496963501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22491779923439026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07259020209312439},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W98572771","https://openalex.org/W606654001","https://openalex.org/W1487127700","https://openalex.org/W1503210100","https://openalex.org/W1537482913","https://openalex.org/W1988560433","https://openalex.org/W1989666175","https://openalex.org/W2106737440","https://openalex.org/W2125976432","https://openalex.org/W2148027354","https://openalex.org/W2149698769","https://openalex.org/W2315717088","https://openalex.org/W2334491969","https://openalex.org/W4292408404"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W4300511988","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2101533328","https://openalex.org/W2317650444","https://openalex.org/W130230158"],"abstract_inverted_index":{"This":[0],"study":[1],"is":[2,29,46,126,138],"dedicated":[3],"to":[4,48,105],"achieve":[5,106],"landing":[6,42,109,142],"posture":[7,43,110],"control":[8,20,44,151],"of":[9,18,35,52,61,94,140],"a":[10,32,36],"generalized":[11],"5-Rotational-DOF":[12],"(5-RDOF)":[13],"twin-body":[14,26,66],"system":[15,27,67],"using":[16],"methods":[17],"PD":[19,113],"and":[21,115,144,150],"input-output":[22,117],"linearization.":[23],"The":[24,131],"5-RDOF":[25,65],"considered":[28],"in":[30],"fact":[31],"simplified":[33],"model":[34],"cellular":[37,54],"phone.":[38,55],"A":[39],"successfully":[40],"designed":[41],"scheme":[45],"expected":[47],"prevent":[49],"structural":[50],"damage":[51],"the":[53,64,72,77,79,95,107,123,135,145],"To":[56,75],"this":[57],"end,":[58],"dynamic":[59],"equations":[60],"motion":[62],"for":[63],"are":[68,101,153],"built":[69],"based":[70],"on":[71],"Lagrange-Euler":[73],"formulation.":[74],"simplify":[76],"modeling,":[78],"input":[80],"torques":[81],"associated":[82],"with":[83,119],"2-RDOF":[84],"joint":[85,96],"have":[86],"been":[87],"decoupled":[88],"by":[89,128],"defining":[90],"relative":[91],"rotational":[92],"angles":[93],"as":[97],"state":[98],"variables.":[99],"There":[100],"two":[102],"controllers":[103],"applied":[104],"final":[108],"control:":[111],"(1)":[112],"controller":[114,124,137],"(2)":[116],"linearization":[118],"computed":[120],"torques.":[121],"Finally,":[122],"performance":[125],"validated":[127],"MATLAB":[129],"simulations.":[130],"results":[132],"show":[133],"that":[134],"design":[136],"capable":[139],"performing":[141],"control,":[143],"relations":[146],"between":[147],"dynamics":[148],"responses":[149],"variables":[152],"discussed.":[154]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}