{"id":"https://openalex.org/W2216854405","doi":"https://doi.org/10.1109/iceee.2015.7357970","title":"Nonlinear suboptimal control for a class of underactuated mechanical systems","display_name":"Nonlinear suboptimal control for a class of underactuated mechanical systems","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2216854405","doi":"https://doi.org/10.1109/iceee.2015.7357970","mag":"2216854405"},"language":"en","primary_location":{"id":"doi:10.1109/iceee.2015.7357970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2015.7357970","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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/A5003241933","display_name":"Bonifacio S\u00e1nchez","orcid":"https://orcid.org/0000-0003-1350-9597"},"institutions":[{"id":"https://openalex.org/I4210095198","display_name":"Universidad Polit\u00e9cnica de Pachuca","ror":"https://ror.org/00r63rv29","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210095198"]},{"id":"https://openalex.org/I4210120584","display_name":"Polytechnic University","ror":"https://ror.org/02f0psx94","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120584"]}],"countries":["JP","MX"],"is_corresponding":true,"raw_author_name":"Bonifacio Sanchez","raw_affiliation_strings":["Polytechnic University of Pachuca, Hidalgo, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Pachuca, Hidalgo, M\u00e9xico","institution_ids":["https://openalex.org/I4210095198","https://openalex.org/I4210120584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075434880","display_name":"Patricio Ordaz","orcid":"https://orcid.org/0000-0002-5055-2183"},"institutions":[{"id":"https://openalex.org/I104854061","display_name":"Universidad Aut\u00f3noma del Estado de Hidalgo","ror":"https://ror.org/031f8kt38","country_code":"MX","type":"education","lineage":["https://openalex.org/I104854061"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Patricio Ordaz","raw_affiliation_strings":["CITIS, Autonomous University of Hidalgo State (UAEH), M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"CITIS, Autonomous University of Hidalgo State (UAEH), M\u00e9xico","institution_ids":["https://openalex.org/I104854061"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008907077","display_name":"Abel Garc\u00eda-Barrientos","orcid":"https://orcid.org/0000-0002-6317-3510"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abel Garcia-Barrientos","raw_affiliation_strings":["The Engineering on Information Technologies, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"The Engineering on Information Technologies, M\u00e9xico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051614468","display_name":"Edgar Vera","orcid":"https://orcid.org/0000-0002-3634-8549"},"institutions":[{"id":"https://openalex.org/I4210120584","display_name":"Polytechnic University","ror":"https://ror.org/02f0psx94","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120584"]},{"id":"https://openalex.org/I4210095198","display_name":"Universidad Polit\u00e9cnica de Pachuca","ror":"https://ror.org/00r63rv29","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210095198"]}],"countries":["JP","MX"],"is_corresponding":false,"raw_author_name":"Edgar Vera","raw_affiliation_strings":["Polytechnic University of Pachuca, Hidalgo, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Pachuca, Hidalgo, M\u00e9xico","institution_ids":["https://openalex.org/I4210095198","https://openalex.org/I4210120584"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003241933"],"corresponding_institution_ids":["https://openalex.org/I4210095198","https://openalex.org/I4210120584"],"apc_list":null,"apc_paid":null,"fwci":1.3464,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83686931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/underactuation","display_name":"Underactuation","score":0.9058350324630737},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7741997241973877},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7199159860610962},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6213517785072327},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5620354413986206},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5233099460601807},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5226356983184814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48797959089279175},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.47582462430000305},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.453958660364151},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4218141734600067},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4212169945240021},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3789365887641907},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2928352355957031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2200900912284851},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07922574877738953}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9058350324630737},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7741997241973877},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7199159860610962},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6213517785072327},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5620354413986206},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5233099460601807},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5226356983184814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48797959089279175},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.47582462430000305},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.453958660364151},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4218141734600067},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4212169945240021},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3789365887641907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2928352355957031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2200900912284851},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07922574877738953},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iceee.2015.7357970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2015.7357970","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W246666880","https://openalex.org/W369194149","https://openalex.org/W611690949","https://openalex.org/W645921674","https://openalex.org/W1487127700","https://openalex.org/W1556270104","https://openalex.org/W1561445488","https://openalex.org/W1574514837","https://openalex.org/W1575037797","https://openalex.org/W1960096875","https://openalex.org/W1971044547","https://openalex.org/W1991340887","https://openalex.org/W1995751706","https://openalex.org/W2000903972","https://openalex.org/W2002614462","https://openalex.org/W2013386289","https://openalex.org/W2013772138","https://openalex.org/W2015953957","https://openalex.org/W2023285936","https://openalex.org/W2029461848","https://openalex.org/W2057947689","https://openalex.org/W2111034649","https://openalex.org/W2122850819","https://openalex.org/W2128592712","https://openalex.org/W2151795214","https://openalex.org/W2159699010","https://openalex.org/W2169199905","https://openalex.org/W2218960162","https://openalex.org/W2301147712","https://openalex.org/W3186624155","https://openalex.org/W3210296218","https://openalex.org/W4210939600","https://openalex.org/W4231262853","https://openalex.org/W4236121069","https://openalex.org/W4285719527","https://openalex.org/W4292408404","https://openalex.org/W6642962755","https://openalex.org/W6654716979","https://openalex.org/W6657779122","https://openalex.org/W6664637915","https://openalex.org/W6688977622","https://openalex.org/W6803168124"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W565008099","https://openalex.org/W2088134843","https://openalex.org/W1495559799","https://openalex.org/W4328008212","https://openalex.org/W4313483404","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098","https://openalex.org/W2387286937"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"to":[3,26,30,73],"the":[4,28,51,54,58,75,78],"problem":[5],"of":[6,12,39,53,83],"suboptimal":[7,44],"control":[8,45,82],"for":[9],"a":[10,40,43],"class":[11],"chained":[13],"underactuated":[14,65],"mechanical":[15],"systems,":[16],"whose":[17],"dynamic":[18,66],"linearization":[19],"contains":[20],"uncontrollable":[21],"stable":[22],"modes.":[23],"In":[24],"order":[25],"bring":[27],"system":[29,55,67,86],"its":[31],"linearity":[32],"domain":[33],"and":[34,56,80],"stabilize":[35],"it":[36],"without":[37],"need":[38],"switching":[41],"control,":[42],"technique":[46],"is":[47,71,92],"proposed,":[48],"based":[49],"on":[50],"energy":[52],"under":[57],"Bellman's":[59],"Optimality":[60],"Principle.":[61],"A":[62],"non-conventional,":[63],"pendular-type":[64],"exhibiting":[68],"particular":[69],"features":[70],"studied":[72],"illustrate":[74],"presented":[76],"approach;":[77],"swing-up":[79],"stabilization":[81],"this":[84],"numerical":[85],"about":[87],"an":[88],"unstable":[89],"equilibrium":[90],"point":[91],"shown.":[93]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
