{"id":"https://openalex.org/W2989629490","doi":"https://doi.org/10.1109/itsc.2019.8916884","title":"Robust State Observers for Two Wheeled Inverted Pendulum under wheel-slip","display_name":"Robust State Observers for Two Wheeled Inverted Pendulum under wheel-slip","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2989629490","doi":"https://doi.org/10.1109/itsc.2019.8916884","mag":"2989629490"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8916884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","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/A5042736994","display_name":"Filippo Parravicini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Filippo Parravicini","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sergio Savaresi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4387,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54094967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1525","last_page":"1530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8592545986175537},{"id":"https://openalex.org/keywords/twip","display_name":"Twip","score":0.7313922047615051},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6292385458946228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6061995625495911},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5948932766914368},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.536689281463623},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.520220935344696},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49218836426734924},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4725244641304016},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.46478271484375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46296122670173645},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.42118024826049805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4122962951660156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20078042149543762},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14141961932182312},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1408887505531311}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8592545986175537},{"id":"https://openalex.org/C2779863471","wikidata":"https://www.wikidata.org/wiki/Q1936270","display_name":"Twip","level":4,"score":0.7313922047615051},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6292385458946228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6061995625495911},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5948932766914368},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.536689281463623},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.520220935344696},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49218836426734924},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4725244641304016},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.46478271484375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46296122670173645},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.42118024826049805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4122962951660156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20078042149543762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14141961932182312},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1408887505531311},{"id":"https://openalex.org/C6840138","wikidata":"https://www.wikidata.org/wiki/Q109856","display_name":"Crystal twinning","level":3,"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","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/C87976508","wikidata":"https://www.wikidata.org/wiki/Q1498213","display_name":"Microstructure","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc.2019.8916884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1165817","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1165817","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2005078355","https://openalex.org/W2017792809","https://openalex.org/W2096345173","https://openalex.org/W2120499270","https://openalex.org/W2556423555","https://openalex.org/W2766731782","https://openalex.org/W2898806907"],"related_works":["https://openalex.org/W3537333","https://openalex.org/W12291637","https://openalex.org/W3326829","https://openalex.org/W6849349","https://openalex.org/W2973893","https://openalex.org/W4985967","https://openalex.org/W9539249","https://openalex.org/W5959852","https://openalex.org/W7340407","https://openalex.org/W4047883"],"abstract_inverted_index":{"Two":[0],"Wheeled":[1],"Inverted":[2],"Pendulums":[3],"(TWIP)":[4],"are":[5,15,57,63],"among":[6],"the":[7,16,53,73,90,110,113,129],"most":[8],"agile":[9],"wheeled":[10],"robots;":[11],"as":[12,40,70,141],"such,":[13],"they":[14,42],"perfect":[17],"choice":[18],"for":[19,72],"Unmanned":[20],"Ground":[21],"Vehicles":[22],"(UGV)":[23],"that":[24],"need":[25],"to":[26,47,89,99,115,139],"perform":[27],"tight":[28],"turns.":[29],"TWIP's":[30],"parallel-wheels":[31],"structure":[32],"allows":[33],"turning-on-the-spot,":[34],"but":[35],"makes":[36],"them":[37],"intrinsically":[38],"unstable;":[39],"such":[41],"require":[43],"a":[44,93,135],"closed-loop":[45],"controller":[46],"prevent":[48],"toppling.":[49],"Accurate":[50],"estimates":[51,114],"of":[52,77,92,96,112,128],"vehicle":[54],"dynamical":[55],"states":[56],"required":[58],"at":[59],"all":[60],"times.":[61],"TWIPs":[62,103],"often":[64],"used":[65,101],"only":[66],"in":[67,105,146],"undemanding":[68],"environments":[69],"testbeds":[71],"development":[74,91],"and":[75,119],"testing":[76],"new":[78],"control":[79],"strategies":[80],"on":[81,102],"nonlinear":[82],"underactuated":[83],"systems.":[84],"This":[85],"work":[86],"is":[87],"dedicated":[88],"complete":[94],"suite":[95],"state":[97],"observers":[98],"be":[100,124,132],"operating":[104],"challenging":[106],"environments.":[107,148],"In":[108],"particular,":[109],"robustness":[111],"temperature-related":[116],"gyrometer":[117],"biases":[118],"wheel":[120],"slip":[121],"events":[122],"will":[123,131],"verified.":[125],"The":[126],"effectiveness":[127],"algorithms":[130],"demonstrated":[133],"using":[134],"prototype":[136],"TWIP":[137],"designed":[138],"operate":[140],"an":[142],"autonomous":[143],"parcel-delivery":[144],"robot":[145],"urban":[147]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
