{"id":"https://openalex.org/W2148083513","doi":"https://doi.org/10.1109/ramech.2008.4681346","title":"Fuzzy Control of Inverter Pendulum Robot via Perturbed Time-Delay Affine T-S Fuzzy Models","display_name":"Fuzzy Control of Inverter Pendulum Robot via Perturbed Time-Delay Affine T-S Fuzzy Models","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2148083513","doi":"https://doi.org/10.1109/ramech.2008.4681346","mag":"2148083513"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5068330117","display_name":"Wen\u2010Jer Chang","orcid":"https://orcid.org/0000-0001-5054-8451"},"institutions":[{"id":"https://openalex.org/I153512688","display_name":"National Taiwan Ocean University","ror":"https://ror.org/03bvvnt49","country_code":"TW","type":"education","lineage":["https://openalex.org/I153512688"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Jer Chang","raw_affiliation_strings":["Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan","institution_ids":["https://openalex.org/I153512688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102142517","display_name":"Wei\u2010Han Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I153512688","display_name":"National Taiwan Ocean University","ror":"https://ror.org/03bvvnt49","country_code":"TW","type":"education","lineage":["https://openalex.org/I153512688"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Han Huang","raw_affiliation_strings":["Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan","institution_ids":["https://openalex.org/I153512688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103567700","display_name":"Wei Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I153512688","display_name":"National Taiwan Ocean University","ror":"https://ror.org/03bvvnt49","country_code":"TW","type":"education","lineage":["https://openalex.org/I153512688"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei Chang","raw_affiliation_strings":["Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Marine Engineering, National Taiwan Ocean University, Keelung, Taiwan","institution_ids":["https://openalex.org/I153512688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153512688"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.29212343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"233","last_page":"238"},"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":0.9983000159263611,"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":0.9983000159263611,"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":0.9952999949455261,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9909999966621399,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8294622898101807},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.761904239654541},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5998603701591492},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677751302719116},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5614709854125977},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.552449643611908},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5481768250465393},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.47759175300598145},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4768475294113159},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4710683226585388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4375150799751282},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3855111300945282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3233442008495331},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2609890103340149},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22623711824417114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19684141874313354},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09569934010505676}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8294622898101807},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.761904239654541},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5998603701591492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677751302719116},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5614709854125977},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.552449643611908},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5481768250465393},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.47759175300598145},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4768475294113159},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4710683226585388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4375150799751282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3855111300945282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3233442008495331},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2609890103340149},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22623711824417114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19684141874313354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09569934010505676},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4681346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W562026345","https://openalex.org/W1027188360","https://openalex.org/W1485186525","https://openalex.org/W1930027090","https://openalex.org/W1967574497","https://openalex.org/W2005163944","https://openalex.org/W2082348194","https://openalex.org/W2131465376","https://openalex.org/W2143295485","https://openalex.org/W2143502897","https://openalex.org/W3210839039","https://openalex.org/W4213345774"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2379529020","https://openalex.org/W2101175215","https://openalex.org/W2893549521","https://openalex.org/W2598699656","https://openalex.org/W2159724666","https://openalex.org/W2058459694"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,48,64,91,98],"robust":[4,82,88],"fuzzy":[5,12,58],"control":[6],"method,":[7],"combining":[8],"affine":[9],"Takagi-Sugeno":[10],"(T-S)":[11],"models":[13],"and":[14,20,72,90],"Hinfinperformance":[15],"constraints,":[16],"for":[17,41,101],"stability":[18,89],"analysis":[19],"controller":[21],"design":[22,117],"of":[23,114],"an":[24],"inverted":[25,33,66,104],"pendulum":[26,34,67,105],"robot":[27,35,68,106],"to":[28,45,62,110],"simulate":[29],"human":[30],"stance.":[31],"The":[32],"proposes":[36],"that":[37],"it":[38],"is":[39,60,108],"beneficial":[40],"the":[42,56,102,112,115],"stance":[43],"leg":[44],"behave":[46],"like":[47],"pendulum.":[49],"As":[50],"mentioned":[51],"above,":[52],"in":[53,85],"this":[54],"paper,":[55],"T-S":[57],"model":[59],"used":[61],"describe":[63],"nonlinear":[65,103],"system":[69,107],"with":[70],"perturbations":[71],"time":[73],"delays.":[74],"Moreover,":[75],"some":[76],"sufficient":[77],"conditions":[78],"are":[79,94],"derived":[80],"on":[81],"Hinfindisturbance":[83],"attenuation":[84],"which":[86],"both":[87],"prescribed":[92],"performance":[93],"achieved,":[95],"simultaneously.":[96],"Finally,":[97],"numerical":[99],"simulation":[100],"given":[109],"show":[111],"applications":[113],"present":[116],"approach.":[118]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}