{"id":"https://openalex.org/W2908615372","doi":"https://doi.org/10.1109/tase.2018.2889434","title":"Antiswing Cargo Transportation of Underactuated Tower Crane Systems by a Nonlinear Controller Embedded With an Integral Term","display_name":"Antiswing Cargo Transportation of Underactuated Tower Crane Systems by a Nonlinear Controller Embedded With an Integral Term","publication_year":2019,"publication_date":"2019-01-11","ids":{"openalex":"https://openalex.org/W2908615372","doi":"https://doi.org/10.1109/tase.2018.2889434","mag":"2908615372"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2018.2889434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2889434","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-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/A5084704870","display_name":"Ning Sun","orcid":"https://orcid.org/0000-0002-5253-2944"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Sun","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5253-2944","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089523180","display_name":"Yiming Wu","orcid":"https://orcid.org/0000-0001-5880-6806"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Wu","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5880-6806","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327667","display_name":"He Chen","orcid":"https://orcid.org/0000-0001-6356-1655"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Chen","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":7.8475,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.98002447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"16","issue":"3","first_page":"1387","last_page":"1398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9923999905586243,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9886000156402588,"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/control-theory","display_name":"Control theory (sociology)","score":0.818989634513855},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8083385229110718},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6769073605537415},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6300942897796631},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6287531852722168},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5545536279678345},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5498993396759033},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5160341262817383},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.487310528755188},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.44591760635375977},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4367128312587738},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.4254075586795807},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.4250485897064209},{"id":"https://openalex.org/keywords/tower","display_name":"Tower","score":0.4199666380882263},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4123304784297943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3326619863510132},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2030337154865265},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09350752830505371}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.818989634513855},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8083385229110718},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6769073605537415},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6300942897796631},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6287531852722168},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5545536279678345},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5498993396759033},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5160341262817383},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.487310528755188},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.44591760635375977},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4367128312587738},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.4254075586795807},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.4250485897064209},{"id":"https://openalex.org/C2777831296","wikidata":"https://www.wikidata.org/wiki/Q12518","display_name":"Tower","level":2,"score":0.4199666380882263},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4123304784297943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3326619863510132},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2030337154865265},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09350752830505371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2018.2889434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2889434","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1647152354","display_name":null,"funder_award_id":"61873134","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2661273820","display_name":null,"funder_award_id":"U1706228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8118065677","display_name":null,"funder_award_id":"61503200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323021","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1965151517","https://openalex.org/W1967573527","https://openalex.org/W1969064048","https://openalex.org/W1970059941","https://openalex.org/W1973501183","https://openalex.org/W1973705547","https://openalex.org/W1981613356","https://openalex.org/W1988469697","https://openalex.org/W2000951365","https://openalex.org/W2005741317","https://openalex.org/W2015030512","https://openalex.org/W2027191849","https://openalex.org/W2032391728","https://openalex.org/W2035176462","https://openalex.org/W2042637117","https://openalex.org/W2046212985","https://openalex.org/W2058902184","https://openalex.org/W2069267739","https://openalex.org/W2070061995","https://openalex.org/W2070233301","https://openalex.org/W2070915289","https://openalex.org/W2075026583","https://openalex.org/W2076480290","https://openalex.org/W2077156923","https://openalex.org/W2080349043","https://openalex.org/W2088238695","https://openalex.org/W2093588064","https://openalex.org/W2098222446","https://openalex.org/W2099113892","https://openalex.org/W2109265299","https://openalex.org/W2116820740","https://openalex.org/W2116915517","https://openalex.org/W2119156396","https://openalex.org/W2131566376","https://openalex.org/W2145346813","https://openalex.org/W2157837338","https://openalex.org/W2159020514","https://openalex.org/W2160565957","https://openalex.org/W2185168721","https://openalex.org/W2273713843","https://openalex.org/W2285870816","https://openalex.org/W2319947492","https://openalex.org/W2321101530","https://openalex.org/W2333357315","https://openalex.org/W2464813316","https://openalex.org/W2541693935","https://openalex.org/W2546575425","https://openalex.org/W2605297402","https://openalex.org/W2611533758","https://openalex.org/W2616685524","https://openalex.org/W2736334925","https://openalex.org/W2765928186","https://openalex.org/W2766922581","https://openalex.org/W2768283293","https://openalex.org/W3170070557","https://openalex.org/W4232728185","https://openalex.org/W4285719527","https://openalex.org/W6686361414"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W2154548569","https://openalex.org/W4206415216"],"abstract_inverted_index":{"A":[0],"tower":[1,26,92],"crane":[2],"is":[3,13,88,137],"a":[4],"nonlinear":[5,34],"mechatronic":[6],"system":[7],"with":[8,82],"complicated":[9,159],"underactuated":[10],"characteristics,":[11],"which":[12,39,96,154],"widely":[14],"used":[15],"in":[16,67,75,112],"modern":[17],"construction":[18],"sites.":[19],"At":[20],"present,":[21],"most":[22],"existing":[23],"methods":[24],"for":[25,90,158],"cranes":[27,93],"are":[28,124,146,165],"proposed":[29,89,135,173],"by":[30],"linearizing":[31],"the":[32,113,134,151,169,172],"original":[33],"dynamics":[35],"near":[36],"equilibrium":[37,152],"points,":[38,153],"are,":[40],"thus,":[41],"prone":[42],"to":[43,50,107,131,150,167],"suffering":[44],"from":[45],"unexpected":[46],"steady":[47,110],"errors":[48,111],"due":[49],"such":[51],"factors":[52],"as":[53],"unmodeled":[54],"dynamics,":[55],"imperfect":[56],"friction":[57,118],"compensation,":[58],"etc.,":[59],"since":[60],"they":[61],"have":[62],"not":[63,147],"included":[64,166],"integral":[65,86],"terms":[66],"either":[68],"controller":[69,81,136],"design":[70],"or":[71],"stability":[72,122],"analysis.":[73,129],"Therefore,":[74],"this":[76],"paper,":[77],"an":[78,83],"improved":[79],"feedback":[80],"elaborately":[84],"constructed":[85],"term":[87],"3-D":[91],"without":[94],"linearization,":[95,133],"can":[97],"achieve":[98],"both":[99],"antiswing":[100],"and":[101],"positioning":[102],"control":[103],"while":[104],"being":[105],"able":[106],"effectively":[108],"reduce":[109],"presence":[114],"of,":[115],"e.g.,":[116],"inaccurate":[117],"compensation.":[119],"Furthermore,":[120],"asymptotic":[121],"results":[123,164],"proven":[125],"through":[126],"rigorous":[127],"theoretical":[128],"Owing":[130],"no":[132],"applicable":[138],"when":[139],"state":[140],"variables":[141],"(e.g.,":[142],"cargo":[143],"swing":[144],"angles)":[145],"close":[148],"enough":[149],"makes":[155],"it":[156],"suitable":[157],"working":[160],"conditions.":[161],"Hardware":[162],"experimental":[163],"verify":[168],"effectiveness":[170],"of":[171],"controller.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":14}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}