{"id":"https://openalex.org/W2107387526","doi":"https://doi.org/10.1109/robot.2006.1641799","title":"Stability analysis and control law design for acrobots","display_name":"Stability analysis and control law design for acrobots","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2107387526","doi":"https://doi.org/10.1109/robot.2006.1641799","mag":"2107387526"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5042853971","display_name":"Xuzhi Lai","orcid":"https://orcid.org/0000-0002-5672-6762"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu-Zhi Lai","raw_affiliation_strings":["School of Information Science and Engineering, Central South University, Changsha, Hunan, China","[School of Information Science and Engineering, Central South University, Changsha]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"[School of Information Science and Engineering, Central South University, Changsha]","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916568","display_name":"Jinhua She","orcid":"https://orcid.org/0000-0003-3165-5045"},"institutions":[{"id":"https://openalex.org/I148798404","display_name":"Tokyo University of Technology","ror":"https://ror.org/021a26605","country_code":"JP","type":"education","lineage":["https://openalex.org/I148798404"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jin-Hua She","raw_affiliation_strings":["School of Bionics, Tokyo University of Technology, Hachioji, Tokyo, Japan","School of Bionics , Tokyo University of Technology , Hachioji, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Bionics, Tokyo University of Technology, Hachioji, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]},{"raw_affiliation_string":"School of Bionics , Tokyo University of Technology , Hachioji, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S.X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","[Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"[Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada]","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111798678","display_name":"Min Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Wu","raw_affiliation_strings":["School of Information Science and Engineering, Central South University, Changsha, Hunan, China","School of Information Science & Engineering, Central South University, Changsha, Hunan, China#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Central South University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"School of Information Science & Engineering, Central South University, Changsha, Hunan, China#TAB#","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2072,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91569155,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"745","last_page":"750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9991000294685364,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.7944745421409607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7923529148101807},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6803594827651978},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6051089763641357},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.5737255215644836},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5455167293548584},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5314278602600098},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.5172291994094849},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4760948419570923},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47304147481918335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4716966152191162},{"id":"https://openalex.org/keywords/lyapunov-equation","display_name":"Lyapunov equation","score":0.46243536472320557},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41279691457748413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4101168215274811},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37874671816825867},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.3738742768764496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11381003260612488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09766098856925964},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08262863755226135},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0784616768360138}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.7944745421409607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7923529148101807},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6803594827651978},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6051089763641357},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.5737255215644836},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5455167293548584},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5314278602600098},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.5172291994094849},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4760948419570923},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47304147481918335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4716966152191162},{"id":"https://openalex.org/C25854792","wikidata":"https://www.wikidata.org/wiki/Q1028945","display_name":"Lyapunov equation","level":4,"score":0.46243536472320557},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41279691457748413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4101168215274811},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37874671816825867},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.3738742768764496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11381003260612488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09766098856925964},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08262863755226135},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0784616768360138},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/robot.2006.1641799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W19432330","https://openalex.org/W1505317454","https://openalex.org/W2004625566","https://openalex.org/W2008488513","https://openalex.org/W2013232999","https://openalex.org/W2041521369","https://openalex.org/W2090167557","https://openalex.org/W2097035443","https://openalex.org/W2111683789","https://openalex.org/W2298085263","https://openalex.org/W6600799268"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W2383986032","https://openalex.org/W3217133416","https://openalex.org/W2358066536","https://openalex.org/W2496188264","https://openalex.org/W1970635650","https://openalex.org/W2333471870","https://openalex.org/W2126112326","https://openalex.org/W2534107666","https://openalex.org/W2210722882"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,47],"novel":[4],"control":[5,26,44],"strategy":[6,108],"based":[7,31],"on":[8,32],"non-smooth":[10,85],"Lyapunov":[11,34,79],"function":[12],"to":[13,45,56,71],"guarantee":[14],"the":[15,18,21,52,58,62,65,90,93,96,104],"stability":[16,91],"of":[17,42,92,106],"system":[19],"in":[20,39,95],"whole":[22,97],"motion":[23,43,98],"space.":[24,99],"Three":[25],"laws":[27],"that":[28,75],"are":[29,36,81],"derived":[30],"three":[33,40,78],"functions":[35,80],"applied":[37],"successively":[38],"stages":[41],"achieve":[46],"suitable":[48],"posture":[49],"and":[50,70],"increase":[51],"energy":[53],"so":[54],"as":[55],"make":[57],"acrobot":[59,94],"move":[60],"into":[61,83],"area":[63],"around":[64],"unstable":[66],"inverted":[67],"equilibrium":[68],"position,":[69],"stabilize":[72],"it":[73],"at":[74],"position.":[76],"These":[77],"combined":[82],"one":[84],"function,":[86],"which":[87],"theoretically":[88],"guarantees":[89],"Simulation":[100],"results":[101],"have":[102],"demonstrated":[103],"validity":[105],"this":[107]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
