{"id":"https://openalex.org/W4416343153","doi":"https://doi.org/10.1109/tase.2025.3630600","title":"Nonlinear Coupling End-Effector Tracking Control and Application for Underactuated Tower Cranes","display_name":"Nonlinear Coupling End-Effector Tracking Control and Application for Underactuated Tower Cranes","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416343153","doi":"https://doi.org/10.1109/tase.2025.3630600"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3630600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3630600","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/A5017813574","display_name":"Cungen Liu","orcid":"https://orcid.org/0000-0002-7961-865X"},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cungen Liu","raw_affiliation_strings":["Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-7961-865X","affiliations":[{"raw_affiliation_string":"Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China","institution_ids":["https://openalex.org/I44445938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011267076","display_name":"Zhiwei Zhang","orcid":"https://orcid.org/0009-0002-6403-0340"},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Zhang","raw_affiliation_strings":["Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0002-6403-0340","affiliations":[{"raw_affiliation_string":"Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China","institution_ids":["https://openalex.org/I44445938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397139","display_name":"Xiaoping Liu","orcid":"https://orcid.org/0000-0003-1808-4233"},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Liu","raw_affiliation_strings":["Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-1808-4233","affiliations":[{"raw_affiliation_string":"Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China","institution_ids":["https://openalex.org/I44445938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016803642","display_name":"Huanqing Wang","orcid":"https://orcid.org/0000-0001-5712-9356"},"institutions":[{"id":"https://openalex.org/I97009856","display_name":"Bohai University","ror":"https://ror.org/01kdzej58","country_code":"CN","type":"education","lineage":["https://openalex.org/I97009856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanqing Wang","raw_affiliation_strings":["Department of Mathematics, Bohai University, Jinzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5712-9356","affiliations":[{"raw_affiliation_string":"Department of Mathematics, Bohai University, Jinzhou, China","institution_ids":["https://openalex.org/I97009856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355742","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0001-9402-3366"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0001-9402-3366","affiliations":[{"raw_affiliation_string":"College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023987464","display_name":"Chengdong Li","orcid":"https://orcid.org/0000-0002-9680-3523"},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengdong Li","raw_affiliation_strings":["Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-9680-3523","affiliations":[{"raw_affiliation_string":"Shandong Key Laboratory of Smart Buildings and Energy Efficiency, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China","institution_ids":["https://openalex.org/I44445938"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5558,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85777553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"23873","last_page":"23883"},"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":0.8122000098228455,"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":0.8122000098228455,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.08240000158548355,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.022199999541044235,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.8134999871253967},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8094000220298767},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6901000142097473},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5770000219345093},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.5597000122070312},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5336999893188477},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4943000078201294},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4869999885559082},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.3919000029563904},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.38580000400543213}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8134999871253967},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8094000220298767},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6901000142097473},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5770000219345093},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.5597000122070312},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5336999893188477},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4943000078201294},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4869999885559082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4616999924182892},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44830000400543213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4205999970436096},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.3919000029563904},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.3813000023365021},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.3702999949455261},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C2777831296","wikidata":"https://www.wikidata.org/wiki/Q12518","display_name":"Tower","level":2,"score":0.35850000381469727},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3384000062942505},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.32519999146461487},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.2994000017642975},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.27219998836517334}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3630600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3630600","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/G4501236684","display_name":null,"funder_award_id":"2025CXPT076","funder_id":"https://openalex.org/F4320336742","funder_display_name":"Key Research and Development Program of Liaoning Province"},{"id":"https://openalex.org/G7500895786","display_name":null,"funder_award_id":"ZR2025MS1057","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320336742","display_name":"Key Research and Development Program of Liaoning Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1984168411","https://openalex.org/W2040991338","https://openalex.org/W2133391116","https://openalex.org/W2168603253","https://openalex.org/W2599381599","https://openalex.org/W2792264719","https://openalex.org/W2998800152","https://openalex.org/W2999043140","https://openalex.org/W3036538439","https://openalex.org/W3038957493","https://openalex.org/W3121111786","https://openalex.org/W3126740933","https://openalex.org/W3165001386","https://openalex.org/W3200455894","https://openalex.org/W3202317945","https://openalex.org/W3202562808","https://openalex.org/W3215797385","https://openalex.org/W4211180498","https://openalex.org/W4282926429","https://openalex.org/W4295866782","https://openalex.org/W4301316237","https://openalex.org/W4312298940","https://openalex.org/W4312839125","https://openalex.org/W4391781932","https://openalex.org/W4392114303","https://openalex.org/W4392207836","https://openalex.org/W4399311031","https://openalex.org/W4399336252","https://openalex.org/W4399727781","https://openalex.org/W4401246606","https://openalex.org/W4402039231","https://openalex.org/W4402627289","https://openalex.org/W4402718871","https://openalex.org/W4402835043","https://openalex.org/W4407704935"],"related_works":[],"abstract_inverted_index":{"Tower":[0],"cranes":[1,60],"play":[2],"an":[3,42,138],"important":[4],"role":[5],"in":[6],"construction,":[7],"whose":[8],"performance":[9],"can":[10,61],"determine":[11],"the":[12,55,115,130,150,159,167,176],"efficiency":[13,30],"and":[14,31,69,82,87,90,93,114,166],"safety":[15],"of":[16,84,95,103,162,171,175],"building":[17],"construction.":[18],"Payloads":[19],"(end-effectors)":[20],"must":[21],"be":[22,62],"transported":[23],"along":[24],"desired":[25],"paths":[26],"to":[27,37,101,124,137,143,149],"ensure":[28,125],"work":[29],"obstacle":[32],"avoidance,":[33],"rather":[34],"than":[35],"point":[36],"point.":[38],"In":[39],"this":[40],"paper,":[41],"end-effector":[43,132],"tracking":[44,133,160],"controller":[45,134],"is":[46,77,109,118,135,164,173],"designed":[47],"for":[48],"5-DOF":[49],"underactuated":[50],"tower":[51,59,141],"cranes.":[52],"Based":[53],"on":[54,121],"proposed":[56],"system":[57],"transformation,":[58],"described":[63],"as":[64],"cascade":[65],"systems":[66],"including":[67],"actuated":[68,80],"unactuated":[70,91],"subsystems.":[71],"A":[72],"novel":[73],"nonlinear":[74],"coupling":[75],"variable":[76],"defined":[78],"between":[79],"(positions":[81,92],"speeds":[83,94],"jibs,":[85],"trolleys":[86],"rope":[88],"lengths)":[89],"payload":[96],"swing":[97,169],"angles)":[98],"states":[99],"according":[100],"position":[102],"end-effectors.":[104],"The":[105,154],"developed":[106,131],"control":[107,152],"strategy":[108],"constructed":[110],"by":[111,147],"block":[112],"backstepping":[113],"stability":[116],"analysis":[117],"given":[119],"based":[120],"approximate":[122],"linearization":[123],"its":[126,145],"mathematical":[127],"rigor.":[128],"Finally,":[129],"applied":[136],"actual":[139],"laboratorial":[140],"crane":[142],"demonstrate":[144],"superiority":[146],"comparing":[148],"existing":[151,177],"strategies.":[153],"experimental":[155],"results":[156],"show":[157],"that":[158],"accuracy":[161],"payloads":[163,172],"35.3%":[165],"maximum":[168],"angle":[170],"62.65%":[174],"controllers.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-11T00:00:00"}
