{"id":"https://openalex.org/W2990799720","doi":"https://doi.org/10.1109/smc.2019.8914185","title":"Modeling and Control of Free-Floating Space Manipulator Using the T-S Fuzzy Descriptor System Approach","display_name":"Modeling and Control of Free-Floating Space Manipulator Using the T-S Fuzzy Descriptor System Approach","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2990799720","doi":"https://doi.org/10.1109/smc.2019.8914185","mag":"2990799720"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8914185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","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/A5057037882","display_name":"Jiabao He","orcid":"https://orcid.org/0000-0001-8425-868X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiabao He","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048473676","display_name":"Feng Xu","orcid":"https://orcid.org/0000-0002-7034-9705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng Xu","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Shenzhen, P.R.China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912623","display_name":"Jun Yang","orcid":"https://orcid.org/0000-0002-9386-5825"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Yang","raw_affiliation_strings":["Navigation and Control Research Center, Tsinghua University, Beijing, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation and Control Research Center, Tsinghua University, Beijing, P.R.China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Navigation and Control Research Center, Tsinghua University, Beijing, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation and Control Research Center, Tsinghua University, Beijing, P.R.China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.201,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97597426,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1049","last_page":"1055"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9830999970436096,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/control-theory","display_name":"Control theory (sociology)","score":0.7617486715316772},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5779879093170166},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5241894125938416},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5052221417427063},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.49514737725257874},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.4787289798259735},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.47749918699264526},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.468921959400177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.462380588054657},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.4512098431587219},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4410381317138672},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43078821897506714},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2946661114692688},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.26782333850860596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1483306884765625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.126289963722229}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7617486715316772},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5779879093170166},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5241894125938416},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5052221417427063},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.49514737725257874},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.4787289798259735},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.47749918699264526},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.468921959400177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.462380588054657},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.4512098431587219},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4410381317138672},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43078821897506714},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2946661114692688},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.26782333850860596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1483306884765625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.126289963722229},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2019.8914185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W562026345","https://openalex.org/W1967073510","https://openalex.org/W1999509734","https://openalex.org/W2009236317","https://openalex.org/W2068052921","https://openalex.org/W2070165745","https://openalex.org/W2079325629","https://openalex.org/W2080641008","https://openalex.org/W2090308161","https://openalex.org/W2091383025","https://openalex.org/W2119968060","https://openalex.org/W2129616157","https://openalex.org/W2137122047","https://openalex.org/W2148209978","https://openalex.org/W2150317946","https://openalex.org/W2165318262","https://openalex.org/W2171141066","https://openalex.org/W2342891598","https://openalex.org/W2536620281","https://openalex.org/W2588372020","https://openalex.org/W2748466577","https://openalex.org/W2810765466","https://openalex.org/W2899284393","https://openalex.org/W2911862555","https://openalex.org/W2913472468","https://openalex.org/W2914805462","https://openalex.org/W6668060323"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4234131606","https://openalex.org/W1974141195","https://openalex.org/W1968954906","https://openalex.org/W2028021255","https://openalex.org/W2358227862","https://openalex.org/W2316612812","https://openalex.org/W2004546183","https://openalex.org/W2268084029","https://openalex.org/W2965203439"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,12,75,89],"Takagi-Sugeno":[4],"(T-S)":[5],"fuzzy":[6,22],"descriptor":[7,23],"approach":[8],"for":[9],"control":[10],"of":[11,25,47,54,71,118],"two-link":[13],"free-floating":[14],"space":[15],"manipulator":[16],"(FFSM)":[17],"is":[18,28,84],"proposed.":[19],"The":[20],"T-S":[21],"model":[24],"the":[26,45,52,67,72,80,102,112,116,119],"FFSM":[27],"first":[29],"derived":[30],"from":[31],"its":[32],"nonlinear":[33,59],"dynamic":[34],"model,":[35],"which":[36,96],"makes":[37],"more":[38],"sense":[39],"in":[40],"reality":[41],"since":[42],"it":[43],"avoids":[44],"use":[46],"joint":[48],"acceleration":[49],"measurement":[50],"and":[51,69,86],"inversion":[53],"inertia":[55],"matrix.":[56],"And":[57],"some":[58],"terms":[60],"are":[61,108],"considered":[62],"as":[63,88],"uncertainties":[64],"to":[65,114],"balance":[66],"complexity":[68],"accuracy":[70],"model.":[73],"Then":[74],"robust":[76],"controller":[77],"based":[78],"on":[79],"Lyapunov":[81],"stability":[82],"theory":[83],"designed":[85],"reformulated":[87],"linear":[90],"matrix":[91],"inequality":[92],"(LMI)":[93],"optimization":[94],"problem":[95],"can":[97],"be":[98],"efficiently":[99],"solved":[100],"with":[101,111],"solver":[103],"SeduMi.":[104],"Finally,":[105],"simulation":[106],"results":[107],"carried":[109],"out":[110],"SimMechanics":[113],"demonstrate":[115],"effectiveness":[117],"proposed":[120],"approach.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}