{"id":"https://openalex.org/W2001065843","doi":"https://doi.org/10.1109/cdc.2011.6160342","title":"A model predictive control approach to attitude stabilization and trajectory tracking control of a 3D universal joint space robot with an initial angular momentum","display_name":"A model predictive control approach to attitude stabilization and trajectory tracking control of a 3D universal joint space robot with an initial angular momentum","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2001065843","doi":"https://doi.org/10.1109/cdc.2011.6160342","mag":"2001065843"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160342","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5100539904","display_name":"Tatsuya Kai","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tatsuya Kai","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Japan","Faculty of Information, Science and Electrical Engineering, Kyushu University, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information, Science and Electrical Engineering, Kyushu University, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100539904"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":0.6525,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74950739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"3547","last_page":"3552"},"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":0.9983999729156494,"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":0.9983999729156494,"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":0.995199978351593,"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":0.9771999716758728,"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/trajectory","display_name":"Trajectory","score":0.7080487608909607},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7070727348327637},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6851137280464172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6040515899658203},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.5518379211425781},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5241560935974121},{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.4977991580963135},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4749075174331665},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46237489581108093},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4445984363555908},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4238972067832947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42374885082244873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39169609546661377},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32302337884902954},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31965750455856323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23942938446998596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22819599509239197},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.171370267868042},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10081747174263},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10056814551353455}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7080487608909607},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7070727348327637},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6851137280464172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6040515899658203},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.5518379211425781},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5241560935974121},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.4977991580963135},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4749075174331665},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46237489581108093},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4445984363555908},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4238972067832947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42374885082244873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39169609546661377},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32302337884902954},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31965750455856323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23942938446998596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22819599509239197},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.171370267868042},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10081747174263},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10056814551353455},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2011.6160342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160342","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W609283096","https://openalex.org/W1573579399","https://openalex.org/W1999502602","https://openalex.org/W2078132606","https://openalex.org/W2106737440","https://openalex.org/W2108394827","https://openalex.org/W2115374306","https://openalex.org/W2115584829","https://openalex.org/W2171101654","https://openalex.org/W2524844226","https://openalex.org/W6618847478","https://openalex.org/W6634348812","https://openalex.org/W6727434893"],"related_works":["https://openalex.org/W3084584616","https://openalex.org/W1998511116","https://openalex.org/W2385194773","https://openalex.org/W1966842581","https://openalex.org/W2736496609","https://openalex.org/W2110064183","https://openalex.org/W2007751090","https://openalex.org/W1663267617","https://openalex.org/W2527652108","https://openalex.org/W1759513145"],"abstract_inverted_index":{"In":[0,25,66],"this":[1,73,141],"paper,":[2],"we":[3,29,54,75,109],"deal":[4],"with":[5,20,46,99],"two":[6,17],"types":[7],"of":[8,16,107,151],"control":[9,33,39,61,79,84,90,116,120,132,150],"problems":[10],"for":[11,41,51,92,121],"a":[12,31,93,105],"3D":[13,43,94,123,153],"space":[14,44,97,124,154],"robot":[15,98,125],"rigid":[18],"bodies":[19],"an":[21,100],"initial":[22,47,101],"angular":[23,48,102],"momentum.":[24,103],"our":[26],"previous":[27],"work,":[28],"studied":[30],"near-optimal":[32],"approach":[34,142],"to":[35,68,80],"the":[36,42,52,81,87,122,129,152],"state":[37],"transition":[38],"problem":[40,85,91],"robots":[45],"momenta.":[49],"However,":[50],"approach,":[53],"need":[55],"huge":[56],"computation":[57,145],"amount":[58,146],"and":[59,86,117,147],"other":[60],"purposes":[62],"cannot":[63],"be":[64,137],"treated.":[65],"order":[67],"overcome":[69],"these":[70],"disadvantages,":[71],"in":[72],"paper":[74],"apply":[76],"model":[77,130],"predictive":[78,131],"attitude":[82,114],"stabilization":[83,115],"trajectory":[88,118],"tracking":[89,119],"universal":[95],"joint":[96],"As":[104],"results":[106],"simulations,":[108],"can":[110,136],"see":[111],"that":[112,140],"both":[113],"are":[126],"accomplished":[127],"by":[128],"approach.":[133],"Moreover,":[134],"it":[135],"also":[138],"confirmed":[139],"considerably":[143],"reduces":[144],"achieves":[148],"real-time":[149],"robot.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
