{"id":"https://openalex.org/W2161633403","doi":"https://doi.org/10.1109/robot.2009.5152627","title":"Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems","display_name":"Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2161633403","doi":"https://doi.org/10.1109/robot.2009.5152627","mag":"2161633403"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152627","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5069584227","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0001-5619-9045"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015249683","display_name":"Peter Goldsmith","orcid":"https://orcid.org/0000-0001-6912-8377"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. Goldsmith","raw_affiliation_strings":["Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Gu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069584227"],"corresponding_institution_ids":["https://openalex.org/I129902397"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.13142913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"43","issue":null,"first_page":"992","last_page":"997"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","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/T12772","display_name":"Control and Stability of Dynamical Systems","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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9096999764442444,"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/underactuation","display_name":"Underactuation","score":0.8660181760787964},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6853868961334229},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.667514979839325},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.6366293430328369},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.5800744295120239},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.5417457818984985},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4808407723903656},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4670001268386841},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.46218645572662354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42631715536117554},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.4191702902317047},{"id":"https://openalex.org/keywords/port","display_name":"Port (circuit theory)","score":0.4165574312210083},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3902320861816406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3553217053413391},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2865777611732483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26590824127197266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23215779662132263},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.2256758213043213},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18369197845458984},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17295604944229126},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16640335321426392},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1607586145401001},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15776219964027405}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8660181760787964},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6853868961334229},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.667514979839325},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.6366293430328369},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.5800744295120239},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.5417457818984985},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4808407723903656},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4670001268386841},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.46218645572662354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42631715536117554},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.4191702902317047},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.4165574312210083},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3902320861816406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3553217053413391},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2865777611732483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26590824127197266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23215779662132263},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.2256758213043213},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18369197845458984},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17295604944229126},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16640335321426392},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1607586145401001},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15776219964027405},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152627","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W157206788","https://openalex.org/W1553823556","https://openalex.org/W1891569969","https://openalex.org/W1977165430","https://openalex.org/W2018565263","https://openalex.org/W2032630233","https://openalex.org/W2048253740","https://openalex.org/W2052176150","https://openalex.org/W2072770984","https://openalex.org/W2081727243","https://openalex.org/W2090073094","https://openalex.org/W2093597592","https://openalex.org/W2094571737","https://openalex.org/W2095237707","https://openalex.org/W2102263452","https://openalex.org/W2110554843","https://openalex.org/W2112724670","https://openalex.org/W2117266901","https://openalex.org/W2117587036","https://openalex.org/W2120351803","https://openalex.org/W2125968092","https://openalex.org/W2137426389","https://openalex.org/W2139361041","https://openalex.org/W2141988856","https://openalex.org/W2144355672","https://openalex.org/W2146794336","https://openalex.org/W2153805735","https://openalex.org/W2168748194","https://openalex.org/W2174717785","https://openalex.org/W2614427989","https://openalex.org/W2616572195","https://openalex.org/W2952218911","https://openalex.org/W4214690803","https://openalex.org/W6633001767","https://openalex.org/W6676733287","https://openalex.org/W6680804603","https://openalex.org/W6737821957","https://openalex.org/W6738284602"],"related_works":["https://openalex.org/W2540077422","https://openalex.org/W2010551470","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W70498098","https://openalex.org/W4308244460","https://openalex.org/W2363498782","https://openalex.org/W3140581650","https://openalex.org/W2963314675","https://openalex.org/W2087175761"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,37,62,65],"control":[3,31],"of":[4,13,39,64],"Port-Controlled":[5],"Hamiltonian":[6],"(PCH)":[7],"systems,":[8],"which":[9],"are":[10],"a":[11],"generalization":[12],"Euler-Lagrange":[14],"Systems.":[15],"A":[16,49],"new":[17],"matching":[18],"equation":[19],"for":[20],"PCH":[21,42],"systems":[22,43],"is":[23,58],"developed":[24],"so":[25],"that":[26],"interconnection":[27],"damping":[28],"assignment":[29],"passivity-based":[30],"(IDA-PBC)":[32],"can":[33],"be":[34,47],"extended":[35],"to":[36,60],"regulation":[38],"some":[40],"underactuated":[41,51],"whosekinetic":[44],"energy":[45],"must":[46],"modified.":[48],"simple":[50],"mechanical":[52],"system":[53],"(the":[54],"inertial":[55],"wheel":[56],"pendulum)":[57],"used":[59],"demonstrate":[61],"effectiveness":[63],"proposed":[66],"method.":[67]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}