{"id":"https://openalex.org/W2019873551","doi":"https://doi.org/10.1109/mmar.2014.6957385","title":"Dynamic singularities in nonlinear control of underactuated pendulum-like models","display_name":"Dynamic singularities in nonlinear control of underactuated pendulum-like models","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2019873551","doi":"https://doi.org/10.1109/mmar.2014.6957385","mag":"2019873551"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2014.6957385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5073847205","display_name":"Adam Wojciech Lukomski","orcid":"https://orcid.org/0000-0002-3598-1238"},"institutions":[{"id":"https://openalex.org/I155313962","display_name":"West Pomeranian University of Technology","ror":"https://ror.org/0596m7f19","country_code":"PL","type":"education","lineage":["https://openalex.org/I155313962"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Adam Wojciech Lukomski","raw_affiliation_strings":["Department of Control and Measurements, West Pomeranian University of Technology, Szczecin","West Pomeranian University of Technology,#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Control and Measurements, West Pomeranian University of Technology, Szczecin","institution_ids":["https://openalex.org/I155313962"]},{"raw_affiliation_string":"West Pomeranian University of Technology,#TAB#","institution_ids":["https://openalex.org/I155313962"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5073847205"],"corresponding_institution_ids":["https://openalex.org/I155313962"],"apc_list":null,"apc_paid":null,"fwci":0.1868,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54523418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"389","last_page":"394"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7971526384353638},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7931926250457764},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.7386226654052734},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7233926653862},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6532158851623535},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.615220844745636},{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.5659777522087097},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.548579752445221},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5178594589233398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4937840402126312},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4722040593624115},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4514648914337158},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3700053095817566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2593250274658203},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24341809749603271},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1909010410308838},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18377608060836792},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16085666418075562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06605511903762817}],"concepts":[{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7971526384353638},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7931926250457764},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7386226654052734},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7233926653862},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6532158851623535},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.615220844745636},{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.5659777522087097},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.548579752445221},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5178594589233398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4937840402126312},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4722040593624115},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4514648914337158},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3700053095817566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2593250274658203},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24341809749603271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1909010410308838},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18377608060836792},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16085666418075562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06605511903762817},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2014.6957385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W13678124","https://openalex.org/W1509235676","https://openalex.org/W1564897360","https://openalex.org/W1865953681","https://openalex.org/W1887006513","https://openalex.org/W1941843239","https://openalex.org/W1965215393","https://openalex.org/W2015298049","https://openalex.org/W2036183792","https://openalex.org/W2108121392","https://openalex.org/W2141132031","https://openalex.org/W2149224990","https://openalex.org/W3160954918","https://openalex.org/W3217246742","https://openalex.org/W4245550013","https://openalex.org/W4292872153","https://openalex.org/W6639326922"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2149145472","https://openalex.org/W2185666822","https://openalex.org/W2655681456","https://openalex.org/W2605534565","https://openalex.org/W3090237748","https://openalex.org/W2612646280","https://openalex.org/W2949841909","https://openalex.org/W4383499160"],"abstract_inverted_index":{"The":[0,19,33],"paper":[1],"presents":[2],"an":[3],"analysis":[4],"of":[5],"dynamic":[6,20],"singularities":[7,21],"in":[8],"n-link":[9],"pendulum-like":[10],"models":[11],"that":[12],"are":[13,22,51],"controlled":[14],"using":[15],"input-output":[16],"feedback":[17],"linearisation.":[18],"caused":[23],"by":[24],"the":[25],"decoupling":[26],"matrix":[27],"being":[28],"singular":[29],"for":[30,53],"particular":[31],"configurations.":[32],"examples":[34],"include":[35],"3-link":[36,39],"planar":[37],"pendulum,":[38],"3D":[40],"pendulum":[41],"and":[42],"a":[43],"simplified":[44],"humanoid-like":[45],"robot":[46],"model.":[47],"Partial":[48],"stabilisation":[49],"results":[50],"presented":[52],"specific":[54],"physical":[55],"parameters.":[56]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-02-25T21:11:00.739837","created_date":"2025-10-10T00:00:00"}
