{"id":"https://openalex.org/W4385221386","doi":"https://doi.org/10.1109/tcsii.2023.3298053","title":"Study on Motion Control Problems for 3-DOF Underactuated Cart-Double Pendulum System","display_name":"Study on Motion Control Problems for 3-DOF Underactuated Cart-Double Pendulum System","publication_year":2023,"publication_date":"2023-07-24","ids":{"openalex":"https://openalex.org/W4385221386","doi":"https://doi.org/10.1109/tcsii.2023.3298053"},"language":"en","primary_location":{"id":"doi:10.1109/tcsii.2023.3298053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2023.3298053","pdf_url":null,"source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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 Circuits and Systems II: Express Briefs","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/A5025075540","display_name":"Lu Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lu Fan","raw_affiliation_strings":["School of Automation and Electrical Engineering, Linyi University, Linyi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066359268","display_name":"Ancai Zhang","orcid":"https://orcid.org/0000-0003-0652-9979"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ancai Zhang","raw_affiliation_strings":["School of Automation and Electrical Engineering, Linyi University, Linyi, China"],"raw_orcid":"https://orcid.org/0000-0003-0652-9979","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038638250","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-9291-6889"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["School of Automation and Electrical Engineering, Linyi University, Linyi, China"],"raw_orcid":"https://orcid.org/0000-0002-9291-6889","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101411218","display_name":"Xinghui Zhang","orcid":"https://orcid.org/0000-0003-3961-8580"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghui Zhang","raw_affiliation_strings":["School of Automation and Electrical Engineering, Linyi University, Linyi, China"],"raw_orcid":"https://orcid.org/0000-0003-3961-8580","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083193684","display_name":"Jianlong Qiu","orcid":"https://orcid.org/0000-0002-9886-3570"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianlong Qiu","raw_affiliation_strings":["School of Automation and Electrical Engineering, Linyi University, Linyi, China"],"raw_orcid":"https://orcid.org/0000-0002-9886-3570","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, China","institution_ids":["https://openalex.org/I15823474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025075540"],"corresponding_institution_ids":["https://openalex.org/I15823474"],"apc_list":null,"apc_paid":null,"fwci":0.1735,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44993694,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"71","issue":"1","first_page":"176","last_page":"180"},"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":0.9904000163078308,"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":0.9904000163078308,"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":0.989300012588501,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9483000040054321,"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":0.8794240951538086},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.824622631072998},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7049658894538879},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6216990351676941},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.554233193397522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47755059599876404},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45697933435440063},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4504129886627197},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4363752603530884},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42787688970565796},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4233004152774811},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.41615280508995056},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3603709936141968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3012363910675049},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2959376573562622},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.2507024109363556},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1903495490550995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1295168697834015},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0998169481754303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09709584712982178}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8794240951538086},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.824622631072998},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7049658894538879},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6216990351676941},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.554233193397522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47755059599876404},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45697933435440063},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4504129886627197},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4363752603530884},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42787688970565796},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4233004152774811},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.41615280508995056},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3603709936141968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3012363910675049},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2959376573562622},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2507024109363556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1903495490550995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1295168697834015},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0998169481754303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09709584712982178},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsii.2023.3298053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2023.3298053","pdf_url":null,"source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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 Circuits and Systems II: Express Briefs","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3000484114","display_name":null,"funder_award_id":"No. 62103177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5188632244","display_name":null,"funder_award_id":"ZR2019YQ28","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6987160986","display_name":null,"funder_award_id":"tsqn202211240","funder_id":"https://openalex.org/F4320326189","funder_display_name":"Taishan Scholar Project of Shandong Province"},{"id":"https://openalex.org/G7498554848","display_name":null,"funder_award_id":"62103177","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/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320326189","display_name":"Taishan Scholar Project of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1971358616","https://openalex.org/W1978900353","https://openalex.org/W2010823753","https://openalex.org/W2017810429","https://openalex.org/W2036418410","https://openalex.org/W2073559194","https://openalex.org/W2090548361","https://openalex.org/W2097583927","https://openalex.org/W2138179483","https://openalex.org/W2140034347","https://openalex.org/W2605188590","https://openalex.org/W2766269574","https://openalex.org/W2915561478","https://openalex.org/W2947531519","https://openalex.org/W2979156395","https://openalex.org/W3036211472","https://openalex.org/W3138000820","https://openalex.org/W3202317945","https://openalex.org/W4293519000","https://openalex.org/W6637618042"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W1963494060","https://openalex.org/W1544534375","https://openalex.org/W2366496871","https://openalex.org/W2669735925","https://openalex.org/W2149145472","https://openalex.org/W3090237748","https://openalex.org/W3216306759","https://openalex.org/W1977487254","https://openalex.org/W2047755970"],"abstract_inverted_index":{"A":[0],"cart-double":[1],"pendulum":[2],"(CDP)":[3],"system":[4,10,44,83,94,118],"is":[5,36,60,74],"a":[6,39,90,104],"nonlinear":[7],"underactuated":[8,31],"mechanical":[9],"with":[11],"three":[12],"degrees":[13],"of":[14,57,65,114,130],"freedom":[15],"(DOF)":[16],"and":[17,68,111],"two":[18,24],"control":[19,26,117,133],"inputs.":[20],"This":[21],"paper":[22],"studies":[23],"motion":[25,40,109],"problems":[27],"for":[28,42],"this":[29],"3-DOF":[30],"system.":[32],"The":[33,55,71],"first":[34],"one":[35,73],"to":[37,50,75],"construct":[38],"trajectory":[41,59],"the":[43,46,51,58,63,81,86,92,99,108,115,128],"from":[45],"lowest":[47],"energy":[48,53,66,101],"point":[49,102],"highest":[52,100],"point.":[54],"design":[56,76],"based":[61],"on":[62],"ideas":[64],"absorption":[67],"inverse":[69],"motion.":[70],"second":[72],"tracking":[77],"controllers":[78],"that":[79],"make":[80],"CDP":[82,93],"accurately":[84,121],"track":[85],"planned":[87,105],"trajectory.":[88,106],"As":[89],"result,":[91],"can":[95,119],"be":[96,120],"stabilized":[97],"at":[98],"along":[103],"And":[107],"process":[110],"settling":[112],"time":[113],"entire":[116],"known.":[122],"Finally,":[123],"numerical":[124],"simulation":[125],"results":[126],"verify":[127],"effectiveness":[129],"our":[131],"developed":[132],"strategy.":[134]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}