{"id":"https://openalex.org/W1632169215","doi":"https://doi.org/10.1109/coase.2015.7294271","title":"Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom robotic arm","display_name":"Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom robotic arm","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1632169215","doi":"https://doi.org/10.1109/coase.2015.7294271","mag":"1632169215"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5035915560","display_name":"Shun\u2010Feng Su","orcid":"https://orcid.org/0000-0001-9777-128X"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shun-Feng Su","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079827975","display_name":"Ko-Jie Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ko-Jie Wang","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031987489","display_name":"Ming-Chang Chen","orcid":"https://orcid.org/0000-0002-6560-1339"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Chang Chen","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010869153","display_name":"Imre J. Rudas","orcid":"https://orcid.org/0000-0002-2067-8578"},"institutions":[{"id":"https://openalex.org/I4210161853","display_name":"Budapest Institute","ror":"https://ror.org/050hvq478","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210161853"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Imre J. Rudas","raw_affiliation_strings":["Budapest Tech Polytechnical Institution (BMF), Institute of Intelligent Engineering Systems (IIES), Budapest, Hungary","Budapest Tech Polytechnical Institution (BMF), Institute of Intelligent Engineering Systems (IIES), H-1034 Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Budapest Tech Polytechnical Institution (BMF), Institute of Intelligent Engineering Systems (IIES), Budapest, Hungary","institution_ids":["https://openalex.org/I4210161853"]},{"raw_affiliation_string":"Budapest Tech Polytechnical Institution (BMF), Institute of Intelligent Engineering Systems (IIES), H-1034 Budapest, Hungary","institution_ids":["https://openalex.org/I4210161853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039664226","display_name":"Ching\u2010Chih Tsai","orcid":"https://orcid.org/0000-0002-0092-9093"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-Chih Tsai","raw_affiliation_strings":["Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan","Department of Electrical Engineering , National Chung-Hsing University, Taichung, Taiwan#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]},{"raw_affiliation_string":"Department of Electrical Engineering , National Chung-Hsing University, Taichung, Taiwan#TAB#","institution_ids":["https://openalex.org/I162838928"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035915560"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":null,"apc_paid":null,"fwci":0.3366,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6299997,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1258","last_page":"1261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9973999857902527,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9973999857902527,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9940000176429749,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.991599977016449,"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":0.7681363821029663},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7137231826782227},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.640104353427887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6183290481567383},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.6028838157653809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.559857189655304},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5236789584159851},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.464843213558197},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44871029257774353},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.448209285736084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44741809368133545},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44630947709083557},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42936980724334717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31791040301322937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25792694091796875},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19904786348342896}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7681363821029663},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7137231826782227},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.640104353427887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6183290481567383},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.6028838157653809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559857189655304},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5236789584159851},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.464843213558197},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44871029257774353},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.448209285736084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44741809368133545},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44630947709083557},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42936980724334717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31791040301322937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25792694091796875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19904786348342896},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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":1,"locations":[{"id":"doi:10.1109/coase.2015.7294271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1632169215","https://openalex.org/W1982576328","https://openalex.org/W1991392036","https://openalex.org/W1996340840","https://openalex.org/W1999636742","https://openalex.org/W2002443265","https://openalex.org/W2006827383","https://openalex.org/W2022153783","https://openalex.org/W2064785603","https://openalex.org/W2066849992","https://openalex.org/W2093325828","https://openalex.org/W2096022248","https://openalex.org/W2111484139","https://openalex.org/W2125286642","https://openalex.org/W2131237889","https://openalex.org/W2143451375","https://openalex.org/W2158546931","https://openalex.org/W2158972934","https://openalex.org/W2541012961","https://openalex.org/W3141681290","https://openalex.org/W6683456296"],"related_works":["https://openalex.org/W3215005299","https://openalex.org/W4388893656","https://openalex.org/W2312533462","https://openalex.org/W1505290414","https://openalex.org/W2108575589","https://openalex.org/W2605331264","https://openalex.org/W2715426920","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524"],"abstract_inverted_index":{"The":[0,22,119],"paper":[1,94],"proposes":[2],"a":[3,73],"novel":[4],"method":[5,98,128],"for":[6,66],"enhanced":[7],"fusion":[8],"adaptive":[9,59,109,116],"fuzzy":[10,60,107,110,113],"control":[11,61,101,127],"in":[12],"the":[13,37,43,46,49,58,67,80,87,90,125],"two-wheeled":[14,23],"balancing":[15],"six":[16,28],"degrees":[17,29],"of":[18,30,45,89],"freedom":[19,31],"robotic":[20,32],"arm.":[21],"mobile":[24,38,68],"robot":[25,39,47,69],"system":[26],"and":[27,115,134],"arm":[33],"are":[34],"integrated":[35],"into":[36],"system.":[40,70],"Due":[41],"to":[42,62,85],"motion":[44],"arm,":[48],"stability":[50],"issue":[51],"becomes":[52],"more":[53],"complex.":[54],"This":[55],"study":[56],"employs":[57],"provide":[63],"suitable":[64],"controller":[65],"In":[71,83],"addition,":[72],"dynamic":[74],"learning":[75,81],"rate":[76],"can":[77],"effectively":[78],"improve":[79],"performance.":[82],"order":[84],"show":[86],"superiority":[88],"proposed":[91,97,126],"controller,":[92,106,108,111,114],"this":[93],"compares":[95],"our":[96],"with":[99],"other":[100],"methods":[102],"as":[103],"proportional-derivative":[104],"(PD)":[105],"PD":[112,117],"controller.":[118],"experiment":[120],"results":[121],"clearly":[122],"demonstrate":[123],"that":[124],"has":[129],"much":[130],"faster":[131],"convergent":[132],"speed":[133],"is":[135],"very":[136],"well":[137],"performed.":[138]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}