{"id":"https://openalex.org/W3109997351","doi":"https://doi.org/10.1109/codit49905.2020.9263929","title":"Design of Backstepping Control based on Adaptive Observer for UnderActuated System","display_name":"Design of Backstepping Control based on Adaptive Observer for UnderActuated System","publication_year":2020,"publication_date":"2020-06-29","ids":{"openalex":"https://openalex.org/W3109997351","doi":"https://doi.org/10.1109/codit49905.2020.9263929","mag":"3109997351"},"language":"en","primary_location":{"id":"doi:10.1109/codit49905.2020.9263929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit49905.2020.9263929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 7th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5016153721","display_name":"Amjad J. Humaidi","orcid":"https://orcid.org/0000-0002-9071-1329"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Amjad J. Humaidi","raw_affiliation_strings":["Control & Systems Eng. Department, University of Technology"],"affiliations":[{"raw_affiliation_string":"Control & Systems Eng. Department, University of Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065466361","display_name":"Eman N. Tala'at","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eman N. Tala'at","raw_affiliation_strings":["Control & Systems Eng. Department, University of Technology"],"affiliations":[{"raw_affiliation_string":"Control & Systems Eng. Department, University of Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052471696","display_name":"Ayad Q. Al-Dujaili","orcid":"https://orcid.org/0000-0002-1126-3290"},"institutions":[{"id":"https://openalex.org/I4210115078","display_name":"Middle Technical University","ror":"https://ror.org/02fvkg758","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210115078"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Ayad Q. Al-Dujaili","raw_affiliation_strings":["Electrical Engineering Technical College, Middle Technical University"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Technical College, Middle Technical University","institution_ids":["https://openalex.org/I4210115078"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058038747","display_name":"Daniel Pereira","orcid":"https://orcid.org/0000-0002-5337-2399"},"institutions":[{"id":"https://openalex.org/I1315085146","display_name":"Universidade Federal de Lavras","ror":"https://ror.org/0122bmm03","country_code":"BR","type":"education","lineage":["https://openalex.org/I1315085146"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel A. Pereira","raw_affiliation_strings":["Federal University of Lavras"],"affiliations":[{"raw_affiliation_string":"Federal University of Lavras","institution_ids":["https://openalex.org/I1315085146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110800545","display_name":"Ibraheem K. Ibraheem","orcid":null},"institutions":[{"id":"https://openalex.org/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Ibraheem K. Ibraheem","raw_affiliation_strings":["Electrical Engineering Department, College of Engineering, University of Baghdad"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, College of Engineering, University of Baghdad","institution_ids":["https://openalex.org/I135120706"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016153721"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8827,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74669378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955999851226807,"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":0.993399977684021,"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/backstepping","display_name":"Backstepping","score":0.9156123995780945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8774745464324951},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7648053169250488},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6531714200973511},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5975837707519531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5622677803039551},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5576919317245483},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5311872959136963},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.49724844098091125},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48156121373176575},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4722784459590912},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3682856559753418},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28856104612350464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24622172117233276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1823306679725647},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14472949504852295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11795952916145325}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9156123995780945},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8774745464324951},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7648053169250488},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6531714200973511},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5975837707519531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5622677803039551},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5576919317245483},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5311872959136963},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.49724844098091125},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48156121373176575},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4722784459590912},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3682856559753418},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28856104612350464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24622172117233276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1823306679725647},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14472949504852295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11795952916145325},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit49905.2020.9263929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit49905.2020.9263929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 7th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W246666880","https://openalex.org/W1485274480","https://openalex.org/W1500504700","https://openalex.org/W1967915844","https://openalex.org/W1969118686","https://openalex.org/W2013772138","https://openalex.org/W2077647493","https://openalex.org/W2082618091","https://openalex.org/W2100563249","https://openalex.org/W2128081723","https://openalex.org/W2347132953","https://openalex.org/W2549215925","https://openalex.org/W2762679946","https://openalex.org/W2810120401","https://openalex.org/W2915018613","https://openalex.org/W2942976407","https://openalex.org/W2954448612","https://openalex.org/W2979987906","https://openalex.org/W2980849648","https://openalex.org/W2981464906","https://openalex.org/W2995338885","https://openalex.org/W3002559340","https://openalex.org/W3027863044","https://openalex.org/W4210939600","https://openalex.org/W6669630236","https://openalex.org/W6704901171","https://openalex.org/W6729404402"],"related_works":["https://openalex.org/W2028651115","https://openalex.org/W1982932202","https://openalex.org/W2911866749","https://openalex.org/W2980380191","https://openalex.org/W2363605972","https://openalex.org/W2168474753","https://openalex.org/W1480527559","https://openalex.org/W2365785480","https://openalex.org/W2070324705","https://openalex.org/W2393509435"],"abstract_inverted_index":{"The":[0,30,53,72,91],"aim":[1],"of":[2,19,38,55,60,74],"this":[3],"work":[4],"is":[5,33],"to":[6,104],"design":[7,98],"a":[8],"backstepping":[9,36],"controller":[10,37,75,103],"based":[11],"on":[12],"an":[13,20],"adaptive":[14,50],"observer":[15,51,77],"for":[16,35,78],"angle":[17],"control":[18,31],"under-actuated":[21],"system,":[22],"represented":[23],"by":[24,49,67],"the":[25,46,79,96,102],"inertia":[26,39],"wheel":[27,40],"pendulum":[28,41],"system.":[29],"algorithm":[32],"developed":[34],"system":[42,63,81],"taking":[43],"into":[44],"account":[45],"velocity":[47],"estimates":[48],"for.":[52],"convergence":[54],"tracking":[56],"and":[57,76,110],"estimation":[58],"errors":[59],"observer-based":[61],"controlled":[62],"has":[64,82],"been":[65,83],"proven":[66],"pursuing":[68],"Lypunove-based":[69],"stability":[70],"analysis.":[71],"effectiveness":[73],"underactuated":[80],"verified":[84],"using":[85],"computers":[86],"simulation":[87],"within":[88],"MATLAB":[89],"environment.":[90],"results":[92],"showed":[93],"that":[94,95],"presented":[97],"could":[99],"successfully":[100],"enable":[101],"give":[105],"good":[106,111],"performance":[107],"in":[108,114],"stabilization":[109],"robustness":[112],"characteristics":[113],"observation.":[115]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}