{"id":"https://openalex.org/W2090328749","doi":"https://doi.org/10.1109/robio.2012.6491232","title":"Periodic trajectory generation and tracking control for a class of underactuated mechanical systems","display_name":"Periodic trajectory generation and tracking control for a class of underactuated mechanical systems","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2090328749","doi":"https://doi.org/10.1109/robio.2012.6491232","mag":"2090328749"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101454916","display_name":"Hongtai Cheng","orcid":"https://orcid.org/0000-0001-7579-5803"},"institutions":[{"id":"https://openalex.org/I13511017","display_name":"Texas State University","ror":"https://ror.org/05h9q1g27","country_code":"US","type":"education","lineage":["https://openalex.org/I13511017"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongtai Cheng","raw_affiliation_strings":["Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","Ingram School of Engineering, Texas State University San Marcos, San Marcos, Texas, 78666"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","institution_ids":["https://openalex.org/I13511017"]},{"raw_affiliation_string":"Ingram School of Engineering, Texas State University San Marcos, San Marcos, Texas, 78666","institution_ids":["https://openalex.org/I13511017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688278","display_name":"Heping Chen","orcid":"https://orcid.org/0000-0002-1045-8977"},"institutions":[{"id":"https://openalex.org/I13511017","display_name":"Texas State University","ror":"https://ror.org/05h9q1g27","country_code":"US","type":"education","lineage":["https://openalex.org/I13511017"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Heping Chen","raw_affiliation_strings":["Department of Electrical Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","Ingram School of Engineering, Texas State University San Marcos, San Marcos, Texas, 78666"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]},{"raw_affiliation_string":"Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","institution_ids":["https://openalex.org/I13511017"]},{"raw_affiliation_string":"Ingram School of Engineering, Texas State University San Marcos, San Marcos, Texas, 78666","institution_ids":["https://openalex.org/I13511017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445818","display_name":"Xiaohua Zhang","orcid":"https://orcid.org/0000-0003-3478-2859"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohua Zhang","raw_affiliation_strings":["Department of Electrical Engineering, Dalian University of Technology, Dalian, Liaoning, China","Department of Electrical Engineering, Dalian University of Technology, Dalian, Liaoning, 116024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Dalian University of Technology, Dalian, Liaoning, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Department of Electrical Engineering, Dalian University of Technology, Dalian, Liaoning, 116024, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091704948","display_name":"Bingtuan Gao","orcid":"https://orcid.org/0000-0001-6933-0743"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingtuan Gao","raw_affiliation_strings":["Department of Electrical Engineering, Southeast University, Nanjing, China","Department of Electrical Engineering, Southeast University, Nanjing 210096, China)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Department of Electrical Engineering, Southeast University, Nanjing 210096, China)","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100721079","display_name":"Hongjun Chen","orcid":"https://orcid.org/0000-0003-2196-1380"},"institutions":[{"id":"https://openalex.org/I13511017","display_name":"Texas State University","ror":"https://ror.org/05h9q1g27","country_code":"US","type":"education","lineage":["https://openalex.org/I13511017"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Hongjun Chen","raw_affiliation_strings":["Department of Electrical Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]},{"raw_affiliation_string":"Ingram School of Engineering, Texas State University, San Marcos, San Marcos, TX, USA","institution_ids":["https://openalex.org/I13511017"]},{"raw_affiliation_string":"Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1817","last_page":"1822"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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":0.9958999752998352,"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/trajectory","display_name":"Trajectory","score":0.7956819534301758},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7890478372573853},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6687179803848267},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6318851709365845},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5591844916343689},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5551425218582153},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.5263558626174927},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48558348417282104},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4563499093055725},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.45129626989364624},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4304938316345215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2994992136955261},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18622177839279175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10630068182945251},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07423427700996399}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7956819534301758},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7890478372573853},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6687179803848267},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6318851709365845},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5591844916343689},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5551425218582153},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.5263558626174927},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48558348417282104},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4563499093055725},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.45129626989364624},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4304938316345215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2994992136955261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18622177839279175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10630068182945251},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07423427700996399},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/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/robio.2012.6491232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1487112583","https://openalex.org/W1522754958","https://openalex.org/W1540574895","https://openalex.org/W1574478348","https://openalex.org/W1619551699","https://openalex.org/W1630789662","https://openalex.org/W1974845375","https://openalex.org/W1982961388","https://openalex.org/W1987238619","https://openalex.org/W2013232999","https://openalex.org/W2018496321","https://openalex.org/W2026828905","https://openalex.org/W2045992114","https://openalex.org/W2059627115","https://openalex.org/W2096641262","https://openalex.org/W2111683789","https://openalex.org/W2128592712","https://openalex.org/W2132347660","https://openalex.org/W2165104634","https://openalex.org/W2168164612","https://openalex.org/W4205940976","https://openalex.org/W6684066053"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W4293094921","https://openalex.org/W4321093571","https://openalex.org/W4285581602"],"abstract_inverted_index":{"The":[0,38,172,218],"underactuated":[1],"mechanical":[2],"systems":[3,11,25],"(UMS)":[4],"is":[5,51,92,115,161,205],"a":[6,42,84,89,125,179,184],"special":[7],"class":[8,180],"of":[9,23,40,66,82,151,167,181,216],"nonlinear":[10,112],"with":[12],"fewer":[13],"inputs":[14],"than":[15],"its":[16,48],"degree-of-freedoms":[17],"(DOF).":[18],"Currently":[19],"the":[20,29,55,64,95,107,139,143,148,152,165,168,194,199,213,236],"research":[21,60],"work":[22,61],"such":[24],"mainly":[26],"focuses":[27],"on":[28],"equilibrium":[30],"point":[31,91],"stabilization":[32],"and":[33,111,142,183,211,223,226,235,242],"periodic":[34,57,68,108,126,149,201,220],"trajectory":[35,58,85,99,127,221],"tracking":[36,100,198,227],"problem.":[37],"problem":[39],"steering":[41,77],"UMS":[43,182,185],"to":[44,74,86,117,130,163,178,193],"arbitrary":[45,136],"points":[46,137],"in":[47,120,138],"state":[49,140],"space":[50,141],"hardly":[52],"studied.":[53],"Although":[54],"existing":[56,96],"generation":[59,128,222],"has":[62],"demonstrated":[63,239],"possibility":[65],"generating":[67],"orbits":[69],"that":[70,102,133],"can":[71,175,186],"be":[72,176,187],"utilized":[73],"realize":[75],"point-to-point":[76],"control,":[78],"no":[79],"systematic":[80],"methodology":[81],"obtaining":[83],"pass":[87,134],"through":[88,135],"specified":[90],"proposed.":[93],"Furthermore":[94],"LQR":[97,169],"based":[98,158,170],"controller":[101,228],"requires":[103],"analytical":[104],"solutions":[105],"for":[106,146,207],"orbit":[109],"function":[110],"Ricatti":[113],"equation":[114],"hard":[116],"implement.":[118],"Therefore,":[119],"this":[121],"paper,":[122],"we":[123],"propose":[124],"algorithm":[129,160],"generate":[131],"trajectories":[132],"corresponding":[144],"criteria":[145],"determining":[147],"property":[150],"generated":[153,200],"trajectories.":[154,202],"A":[155],"novel":[156],"Lyapunov":[157],"control":[159],"proposed":[162,173,219],"eliminate":[164],"difficulties":[166],"controller.":[171],"methods":[174,225],"applied":[177],"transferred":[188],"from":[189],"an":[190,232],"initial":[191],"position":[192,196],"desired":[195],"by":[197],"Such":[203],"ability":[204],"critical":[206],"realizing":[208],"complex":[209],"tasks":[210],"extending":[212],"application":[214],"areas":[215],"UMS.":[217],"analysis":[224],"are":[229],"implemented":[230],"using":[231],"Acrobot":[233],"prototype":[234],"experimental":[237],"results":[238],"their":[240,244],"performance":[241],"verified":[243],"effectiveness.":[245]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}