{"id":"https://openalex.org/W2802969968","doi":"https://doi.org/10.1109/tac.2018.2830509","title":"Feedback Control of a Motorized Skateboard","display_name":"Feedback Control of a Motorized Skateboard","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2802969968","doi":"https://doi.org/10.1109/tac.2018.2830509","mag":"2802969968"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2018.2830509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2830509","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.sorbonne-universite.fr/hal-02308537","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013665591","display_name":"Claude Samson","orcid":"https://orcid.org/0000-0002-3769-6174"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]},{"id":"https://openalex.org/I4210106545","display_name":"Research Centre Inria Sophia Antipolis - M\u00e9diterran\u00e9e","ror":"https://ror.org/01nzkaw91","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106545"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Claude Samson","raw_affiliation_strings":["INRIA-I3S-CNRS, Universit\u00e9 C\u00f4te d\u2019Azur, Nice, France","CRISAM - Inria Sophia Antipolis - M\u00e9diterran\u00e9e (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)"],"affiliations":[{"raw_affiliation_string":"INRIA-I3S-CNRS, Universit\u00e9 C\u00f4te d\u2019Azur, Nice, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CRISAM - Inria Sophia Antipolis - M\u00e9diterran\u00e9e (2004 route des Lucioles BP 93 06902 Sophia Antipolis - France)","institution_ids":["https://openalex.org/I4210106545"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036552594","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-3360-8269"},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Morin","raw_affiliation_strings":["Sorbonne Universit\u00e9, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France","ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","SYROCO - Syst\u00e8mes robotiques Conception et Commande (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)"],"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]},{"raw_affiliation_string":"ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"SYROCO - Syst\u00e8mes robotiques Conception et Commande (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013665591"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106545"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47189158,"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":"1","last_page":"1"},"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":0.9994999766349792,"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":0.9994999766349792,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9968000054359436,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7833284735679626},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7645032405853271},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7490329146385193},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6832032203674316},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5806562900543213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5290870666503906},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4896593689918518},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4360661506652832},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.435134619474411},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33952796459198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29537200927734375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25590401887893677},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24012231826782227},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.17099156975746155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07488951086997986}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7833284735679626},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7645032405853271},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7490329146385193},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6832032203674316},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5806562900543213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5290870666503906},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4896593689918518},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4360661506652832},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.435134619474411},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33952796459198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29537200927734375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25590401887893677},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24012231826782227},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.17099156975746155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07488951086997986},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2018.2830509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2830509","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02308537v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-02308537","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2018, 64 (2), pp.628-639. &#x27E8;10.1109/TAC.2018.2830509&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02308537v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-02308537","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2018, 64 (2), pp.628-639. &#x27E8;10.1109/TAC.2018.2830509&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6000000238418579,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W1830668663","https://openalex.org/W1971044547","https://openalex.org/W1982928172","https://openalex.org/W2032128836","https://openalex.org/W2033699235","https://openalex.org/W2049949192","https://openalex.org/W2065297540","https://openalex.org/W2100165947","https://openalex.org/W2104929776","https://openalex.org/W2112248762","https://openalex.org/W2120944681","https://openalex.org/W2122513851","https://openalex.org/W2124052803","https://openalex.org/W2127966006","https://openalex.org/W2127988032","https://openalex.org/W2134966857","https://openalex.org/W2144026911","https://openalex.org/W2146826877","https://openalex.org/W2152386636","https://openalex.org/W2158564182","https://openalex.org/W2161095658","https://openalex.org/W2164259133","https://openalex.org/W2165126667","https://openalex.org/W2179747947","https://openalex.org/W2470438958","https://openalex.org/W2514816239","https://openalex.org/W2613229785","https://openalex.org/W6642962755","https://openalex.org/W6738423198"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2391000165","https://openalex.org/W2801692647","https://openalex.org/W2170944339","https://openalex.org/W2477888563","https://openalex.org/W1972061147","https://openalex.org/W3167722269"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,11],"feedback":[4,58],"control":[5,23],"solution":[6],"for":[7],"the":[8,19,33,69,75],"automatization":[9],"of":[10,35,64],"motorized":[12],"skateboard,":[13],"also":[14],"called":[15],"symmetric":[16],"snakeboard":[17],"in":[18,68],"robotics":[20],"and":[21,37],"automatic":[22],"literature.":[24],"Controlling":[25],"this":[26],"system":[27],"is":[28,44,53],"particularly":[29],"challenging":[30],"due":[31],"to":[32,41,55],"association":[34],"kinematic":[36],"dynamic":[38,57],"nonintegrable":[39],"constraints":[40],"which":[42],"it":[43],"subjected.":[45],"The":[46],"transverse":[47],"function":[48],"approach,":[49],"combined":[50],"with":[51],"backstepping,":[52],"used":[54],"derive":[56],"laws":[59],"that":[60],"ensure":[61],"practical":[62],"stabilization":[63],"arbitrary":[65],"reference":[66],"trajectories":[67],"Cartesian":[70],"space.":[71],"Simulation":[72],"results":[73],"illustrate":[74],"proposed":[76],"approach.":[77]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2018-05-17T00:00:00"}
