{"id":"https://openalex.org/W2113930058","doi":"https://doi.org/10.1109/isic.2002.1157752","title":"Real-time fuzzy PI + PD control for an underactuated robot","display_name":"Real-time fuzzy PI + PD control for an underactuated robot","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2113930058","doi":"https://doi.org/10.1109/isic.2002.1157752","mag":"2113930058"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2002.1157752","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2002.1157752","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","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/A5067597688","display_name":"Edgar N. S\u00e1nchez","orcid":"https://orcid.org/0000-0002-8695-7879"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E.N. Sanchez","raw_affiliation_strings":["CINVESTAV, Jalisco, Mexico","Cinvestav-Unidad, Guadalajara, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Cinvestav-Unidad, Guadalajara, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053244143","display_name":"V\u00edctor Manuel Zezatti Flores","orcid":"https://orcid.org/0000-0001-6470-6772"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Flores","raw_affiliation_strings":["CINVESTAV, Jalisco, Mexico","Cinvestav-Unidad, Guadalajara, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Cinvestav-Unidad, Guadalajara, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"137","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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":0.821045994758606},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7310763597488403},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6742974519729614},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6075740456581116},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.566338300704956},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5485296845436096},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5428065061569214},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5282900333404541},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4853214621543884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47030919790267944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4693494737148285},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3533822298049927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3495798110961914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12795940041542053},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10239022970199585},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08310830593109131}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.821045994758606},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7310763597488403},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6742974519729614},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6075740456581116},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.566338300704956},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5485296845436096},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5428065061569214},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5282900333404541},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4853214621543884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47030919790267944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4693494737148285},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3533822298049927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3495798110961914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12795940041542053},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10239022970199585},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08310830593109131},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isic.2002.1157752","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2002.1157752","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W205607010","https://openalex.org/W1902370775","https://openalex.org/W1924373338","https://openalex.org/W2013232999","https://openalex.org/W2070899525","https://openalex.org/W2122395315","https://openalex.org/W2140037325","https://openalex.org/W2164527742","https://openalex.org/W2166500992","https://openalex.org/W2407881926","https://openalex.org/W3022356463","https://openalex.org/W6640276876"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W587013945","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4288862394","https://openalex.org/W4313405128","https://openalex.org/W3086834045"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,12,31],"new":[4,41],"PI":[5],"+":[6],"PD":[7],"fuzzy":[8,15],"controller,":[9],"which":[10],"includes":[11],"dynamic":[13],"switching":[14],"system":[16],"(DFSFS),":[17],"is":[18],"applied":[19],"to":[20,47],"swing-up":[21],"an":[22],"underactuated":[23],"mechanism:":[24],"the":[25,37,48],"pendubot.":[26],"This":[27,40],"mechanism":[28],"consists":[29],"of":[30],"double":[32],"pendulum":[33],"actuated":[34],"only":[35],"at":[36],"first":[38],"joint.":[39],"controller":[42],"and":[43],"its":[44],"real-time":[45],"application":[46],"pendubot":[49],"constitute":[50],"our":[51],"original":[52],"contributions.":[53]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
