{"id":"https://openalex.org/W4200225307","doi":"https://doi.org/10.1109/iros51168.2021.9636425","title":"Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot","display_name":"Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200225307","doi":"https://doi.org/10.1109/iros51168.2021.9636425"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636425","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101684908","display_name":"Yixu Wang","orcid":"https://orcid.org/0000-0001-9519-5063"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixu Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100690711","display_name":"Xiaoqing Guan","orcid":"https://orcid.org/0000-0003-3398-0415"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqing Guan","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698765","display_name":"Tao Hu","orcid":"https://orcid.org/0000-0002-6630-2808"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Hu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101538149","display_name":"Ziang Zhang","orcid":"https://orcid.org/0000-0002-4551-3489"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziang Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088638731","display_name":"You Wang","orcid":"https://orcid.org/0000-0003-0266-0224"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"You Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100749981","display_name":"Zhan Wang","orcid":"https://orcid.org/0000-0002-5791-1097"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhan Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376138","display_name":"Yifan Liu","orcid":"https://orcid.org/0000-0001-8866-6322"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Liu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406295","display_name":"Guang Li","orcid":"https://orcid.org/0000-0002-1253-3985"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guang Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101684908"],"corresponding_institution_ids":["https://openalex.org/I4391767838"],"apc_list":null,"apc_paid":null,"fwci":8.7267,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99192296,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3242","last_page":"3247"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.7673929333686829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.678098201751709},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6335431337356567},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6193220019340515},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5630685091018677},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5080392360687256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46040499210357666},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4442228674888611},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4342740774154663},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.41208553314208984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36123690009117126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20131900906562805},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.08330017328262329}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7673929333686829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.678098201751709},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6335431337356567},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6193220019340515},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5630685091018677},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5080392360687256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46040499210357666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4442228674888611},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4342740774154663},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.41208553314208984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36123690009117126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20131900906562805},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.08330017328262329},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636425","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322927","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1995060319","https://openalex.org/W2031170838","https://openalex.org/W2036970490","https://openalex.org/W2040591779","https://openalex.org/W2084023361","https://openalex.org/W2089130332","https://openalex.org/W2096276062","https://openalex.org/W2103731312","https://openalex.org/W2106979901","https://openalex.org/W2107246116","https://openalex.org/W2111338039","https://openalex.org/W2115643799","https://openalex.org/W2117216772","https://openalex.org/W2118679978","https://openalex.org/W2133953042","https://openalex.org/W2148713684","https://openalex.org/W2151293459","https://openalex.org/W2316477509","https://openalex.org/W2402339929","https://openalex.org/W2547280988","https://openalex.org/W2552419051","https://openalex.org/W3011344384","https://openalex.org/W6675886962","https://openalex.org/W7004786735"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"In":[0],"this":[1,85],"paper,":[2,86],"a":[3,20,28,33,87],"fuzzy":[4],"PID":[5],"controller":[6,18,48],"based":[7,62],"on":[8,63,69,77],"yaw":[9],"angle":[10],"prediction":[11],"is":[12,90],"applied":[13],"to":[14,38,52,57,59,97],"design":[15],"an":[16],"attitude":[17],"for":[19],"spherical":[21,34,73],"rolling":[22],"robot.":[23],"The":[24,46,66],"robot":[25,51],"consists":[26],"of":[27,72,104],"2-DOF":[29],"pendulum":[30],"located":[31],"inside":[32],"shell":[35],"with":[36],"freedom":[37],"rotate":[39],"about":[40],"the":[41,50,70,99,105],"transversal":[42],"and":[43,92,102],"longitudinal":[44],"axis.":[45],"proposed":[47],"allows":[49],"autonomously":[53],"change":[54],"its":[55],"parameters":[56],"adapt":[58],"different":[60],"environments":[61],"current":[64],"state.":[65],"past":[67],"researches":[68],"motion":[71],"robots":[74],"mostly":[75],"focused":[76],"simulation":[78],"or":[79],"ideal":[80],"experimental":[81],"environment.":[82],"But":[83],"in":[84],"physical":[88],"system":[89],"built":[91],"experiments":[93],"are":[94],"carried":[95],"out":[96],"demonstrate":[98],"effectiveness,":[100],"robustness":[101],"adaptability":[103],"controller.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
