{"id":"https://openalex.org/W3129608752","doi":"https://doi.org/10.1109/iros45743.2020.9340949","title":"Gain Scheduled Controller Design for Balancing an Autonomous Bicycle","display_name":"Gain Scheduled Controller Design for Balancing an Autonomous Bicycle","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129608752","doi":"https://doi.org/10.1109/iros45743.2020.9340949","mag":"3129608752"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100328343","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0003-1931-3085"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062455237","display_name":"Leilei Cui","orcid":"https://orcid.org/0000-0001-8031-7638"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leilei Cui","raw_affiliation_strings":["New York University,Tandon School of Engineering,Control and Networks Lab, Department of Electrical and Computer Engineering,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Tandon School of Engineering,Control and Networks Lab, Department of Electrical and Computer Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057875262","display_name":"Jie Lai","orcid":"https://orcid.org/0009-0005-7918-0941"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Lai","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113092484","display_name":"Sicheng Yang","orcid":"https://orcid.org/0000-0002-0928-034X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicheng Yang","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100776496","display_name":"Xiangyu Chen","orcid":"https://orcid.org/0000-0001-5858-5679"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Chen","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058849717","display_name":"Zhengyou Zhang","orcid":"https://orcid.org/0000-0002-6606-2525"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyou Zhang","raw_affiliation_strings":["Tencent Holdings,Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Holdings,Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067046312","display_name":"Zhong\u2010Ping Jiang","orcid":"https://orcid.org/0000-0002-4868-9359"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhong-Ping Jiang","raw_affiliation_strings":["New York University,Tandon School of Engineering,Control and Networks Lab, Department of Electrical and Computer Engineering,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Tandon School of Engineering,Control and Networks Lab, Department of Electrical and Computer Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7595","last_page":"7600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9983000159263611,"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/T12810","display_name":"Real-time simulation and control systems","score":0.989300012588501,"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/gain-scheduling","display_name":"Gain scheduling","score":0.7422440052032471},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7189974784851074},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.6363279819488525},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6165611743927002},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5303032398223877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159302949905396},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4717696011066437},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.4467165172100067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32510632276535034},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19707536697387695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07102712988853455}],"concepts":[{"id":"https://openalex.org/C97090092","wikidata":"https://www.wikidata.org/wiki/Q764612","display_name":"Gain scheduling","level":3,"score":0.7422440052032471},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7189974784851074},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.6363279819488525},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6165611743927002},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5303032398223877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159302949905396},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4717696011066437},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.4467165172100067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32510632276535034},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19707536697387695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07102712988853455},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W66060913","https://openalex.org/W1551112541","https://openalex.org/W1593910525","https://openalex.org/W1977267912","https://openalex.org/W1986601797","https://openalex.org/W1994732812","https://openalex.org/W2011747427","https://openalex.org/W2027300760","https://openalex.org/W2064384919","https://openalex.org/W2076192651","https://openalex.org/W2078676277","https://openalex.org/W2081539816","https://openalex.org/W2082051781","https://openalex.org/W2084104379","https://openalex.org/W2115966471","https://openalex.org/W2121643293","https://openalex.org/W2128410439","https://openalex.org/W2147831411","https://openalex.org/W2169681057","https://openalex.org/W2296319573","https://openalex.org/W2484754949","https://openalex.org/W2783708018","https://openalex.org/W2995552585","https://openalex.org/W6602672148","https://openalex.org/W6632842943","https://openalex.org/W6635475291"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W4390479742","https://openalex.org/W2097240936","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W2968985559","https://openalex.org/W4318681801","https://openalex.org/W2510926320","https://openalex.org/W4251281889","https://openalex.org/W2753349932"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,32,41,47,50,60,81,84],"gain":[4,55,85],"scheduling":[5],"technique":[6],"is":[7,34,72],"applied":[8],"to":[9,79],"design":[10],"a":[11],"balance":[12,25,59],"controller":[13,57],"for":[14],"an":[15,19],"autonomous":[16,51,61],"bicycle":[17,33,62],"with":[18],"inertia":[20],"wheel.":[21],"Previously,":[22],"two":[23,42],"different":[24,43],"controllers":[26,44],"are":[27,76],"needed":[28],"depending":[29],"on":[30],"whether":[31],"stationary":[35,65],"or":[36],"dynamic.":[37],"The":[38],"switch":[39],"between":[40],"may":[45],"cause":[46],"instability":[48],"of":[49,83],"bicycle.":[52],"Our":[53],"proposed":[54],"scheduled":[56,86],"can":[58],"in":[63],"both":[64],"and":[66,74],"dynamic":[67],"cases.":[68],"A":[69],"physical":[70],"system":[71],"built":[73],"experiments":[75],"carried":[77],"out":[78],"demonstrate":[80],"effectiveness":[82],"controller.":[87]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
