{"id":"https://openalex.org/W3081877334","doi":"https://doi.org/10.1109/med48518.2020.9182837","title":"Comparison of Controller Performance for UGV-Landing Platform Self-Leveling","display_name":"Comparison of Controller Performance for UGV-Landing Platform Self-Leveling","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3081877334","doi":"https://doi.org/10.1109/med48518.2020.9182837","mag":"3081877334"},"language":"en","primary_location":{"id":"doi:10.1109/med48518.2020.9182837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9182837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","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/A5018794071","display_name":"Mohammed N. Alghanim","orcid":null},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohammed N. Alghanim","raw_affiliation_strings":["Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA"],"affiliations":[{"raw_affiliation_string":"Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA","institution_ids":["https://openalex.org/I131651094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007812122","display_name":"Mohammed Qasim","orcid":"https://orcid.org/0000-0003-2947-8887"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohammed Qasim","raw_affiliation_strings":["Systems and control engineering department, Ninevah University, Ninevah, Iraq"],"affiliations":[{"raw_affiliation_string":"Systems and control engineering department, Ninevah University, Ninevah, Iraq","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080779586","display_name":"Kimon P. Valavanis","orcid":"https://orcid.org/0000-0003-2393-8539"},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimon P. Valavanis","raw_affiliation_strings":["Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA"],"affiliations":[{"raw_affiliation_string":"Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA","institution_ids":["https://openalex.org/I131651094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030563924","display_name":"Matthew J. Rutherford","orcid":"https://orcid.org/0000-0001-6394-8606"},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew J. Rutherford","raw_affiliation_strings":["Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA"],"affiliations":[{"raw_affiliation_string":"Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA","institution_ids":["https://openalex.org/I131651094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004204717","display_name":"Margareta Stefanovic","orcid":"https://orcid.org/0000-0003-4104-4352"},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margareta Stefanovic","raw_affiliation_strings":["Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA"],"affiliations":[{"raw_affiliation_string":"Ritchie School of engineering and Computer Science, University of Denver, Denver, Co, USA","institution_ids":["https://openalex.org/I131651094"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018794071"],"corresponding_institution_ids":["https://openalex.org/I131651094"],"apc_list":null,"apc_paid":null,"fwci":0.2942,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55473214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"471","last_page":"478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9986000061035156,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980000257492065,"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/controller","display_name":"Controller (irrigation)","score":0.5542939901351929},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5343049764633179},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5219694375991821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5175182819366455},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.47147512435913086},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4465640187263489},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4166452884674072},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35202404856681824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3289209008216858},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08114257454872131},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.076852947473526}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5542939901351929},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5343049764633179},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5219694375991821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5175182819366455},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.47147512435913086},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4465640187263489},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4166452884674072},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35202404856681824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3289209008216858},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08114257454872131},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.076852947473526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med48518.2020.9182837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9182837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W194456869","https://openalex.org/W1509235676","https://openalex.org/W1512879367","https://openalex.org/W1522935148","https://openalex.org/W1564897360","https://openalex.org/W1868559974","https://openalex.org/W1978563716","https://openalex.org/W1990956663","https://openalex.org/W1993713840","https://openalex.org/W2023198063","https://openalex.org/W2044440299","https://openalex.org/W2055435669","https://openalex.org/W2064071544","https://openalex.org/W2065313971","https://openalex.org/W2076650116","https://openalex.org/W2082511574","https://openalex.org/W2092651128","https://openalex.org/W2096829016","https://openalex.org/W2098815764","https://openalex.org/W2102642497","https://openalex.org/W2116156665","https://openalex.org/W2116432558","https://openalex.org/W2119940492","https://openalex.org/W2121633330","https://openalex.org/W2124779994","https://openalex.org/W2129264762","https://openalex.org/W2130274700","https://openalex.org/W2139485045","https://openalex.org/W2145104972","https://openalex.org/W2146600813","https://openalex.org/W2147245217","https://openalex.org/W2159010565","https://openalex.org/W2260249866","https://openalex.org/W2967206670","https://openalex.org/W3001106543","https://openalex.org/W3081574572","https://openalex.org/W3163456722","https://openalex.org/W4230126298","https://openalex.org/W6674623549","https://openalex.org/W6782833164"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W1992962589","https://openalex.org/W3156121563","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,49,72],"a":[4,31,83],"comparative":[5,128],"study":[6,129],"of":[7,18,23,51,110],"linear,":[8],"nonlinear":[9],"and":[10,37,42,63,82,92,98,108,115,134,137,140,147,160,196],"adaptive":[11],"controller":[12,178],"performance":[13],"to":[14,40,124,189],"level":[15],"within":[16],"1\u00b0":[17],"the":[19,52,73,101,119,125,145,158,172,175],"horizon":[20],"-":[21,30],"regardless":[22],"terrain":[24],"configuration,":[25],"i.e.,":[26],"rough,":[27],"asphalt,":[28],"off-road":[29],"custom-built":[32],"landing":[33,45,65],"platform":[34,46,66,135,151,184],"for":[35,105],"quadrotors":[36],"small-scale":[38],"helicopters":[39],"take-off":[41],"land.":[43],"The":[44,127],"is":[47,68,122,169,174],"built":[48],"top":[50],"commercially":[53],"available":[54],"Argo":[55,132],"J5":[56,133],"Unmanned":[57],"Ground":[58],"Vehicle":[59],"(UGV).":[60],"A":[61],"detailed":[62],"accurate":[64],"model":[67],"first":[69],"derived":[70],"based":[71],"Euler-Lagrange":[74],"formulation.":[75],"Then,":[76],"PD,":[77],"PID,":[78],"LQR,":[79],"feedback":[80],"linearization":[81],"Passivity":[84],"Based":[85],"Adaptive":[86],"Controller":[87],"(PBAC)":[88],"are":[89],"designed,":[90],"tested":[91],"compared":[93],"via":[94],"extensive":[95],"MATLAB/Simulink":[96],"simulations":[97],"by":[99],"using":[100],"V-REP":[102],"Simulation":[103],"Environment":[104],"further":[106],"validation":[107],"evaluation":[109],"leveling":[111,163],"capabilities":[112],"under":[113,154,164],"disturbance":[114,120],"disturbance-free":[116,155],"conditions,":[117,156],"where":[118],"torque":[121],"added":[123],"controllers.":[126],"considers":[130],"real":[131],"physical":[136],"functional":[138],"constraints":[139],"limitations.":[141],"Results":[142],"show":[143],"that":[144,171,187],"PD":[146],"PBAC":[148,159,173],"achieve":[149,162],"faster":[150],"settling":[152],"time":[153],"while":[157],"LQR":[161],"external":[165],"disturbances.":[166],"Thus,":[167],"it":[168],"concluded":[170],"best":[176],"candidate":[177],"configuration.":[179],"Obtained":[180],"results":[181],"also":[182],"reveal":[183],"design":[185],"limitations":[186],"lead":[188],"improved":[190],"UGV-platform":[191],"configurations":[192],"before":[193],"actual":[194],"experimentation":[195],"use.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}