{"id":"https://openalex.org/W2007115778","doi":"https://doi.org/10.1109/tcst.2015.2404897","title":"Nonlinear Disturbance Observer-Based Dynamic Surface Control of Mobile Wheeled Inverted Pendulum","display_name":"Nonlinear Disturbance Observer-Based Dynamic Surface Control of Mobile Wheeled Inverted Pendulum","publication_year":2015,"publication_date":"2015-03-04","ids":{"openalex":"https://openalex.org/W2007115778","doi":"https://doi.org/10.1109/tcst.2015.2404897","mag":"2007115778"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2404897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2404897","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-6267-8824","affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022630265","display_name":"Songhyok Ri","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songhyok Ri","raw_affiliation_strings":["Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea","School of Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100720285","display_name":"Lei Liu","orcid":"https://orcid.org/0000-0001-6846-8492"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Liu","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064567218","display_name":"Yongji Wang","orcid":"https://orcid.org/0000-0003-0161-1869"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongji Wang","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032837167","display_name":"Jiyong Kim","orcid":"https://orcid.org/0000-0002-9999-736X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiyong Kim","raw_affiliation_strings":["Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038202161","display_name":"Gyongchol Pak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gyongchol Pak","raw_affiliation_strings":["Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science, University of Science, Pyongyang, D.P.R. of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.7905,"has_fulltext":false,"cited_by_count":164,"citation_normalized_percentile":{"value":0.99530197,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"23","issue":"6","first_page":"2400","last_page":"2407"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9944999814033508,"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":0.8759071826934814},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8162532448768616},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8033908009529114},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6939945220947266},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.60096275806427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5125222206115723},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.48592081665992737},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.43462488055229187},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4343910217285156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4237465262413025},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.41241392493247986},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.41123348474502563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2884692847728729},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2607724070549011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23213094472885132},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08323624730110168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.061904460191726685}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8759071826934814},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8162532448768616},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8033908009529114},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6939945220947266},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.60096275806427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5125222206115723},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.48592081665992737},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43462488055229187},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4343910217285156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4237465262413025},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.41241392493247986},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.41123348474502563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2884692847728729},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2607724070549011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23213094472885132},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08323624730110168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.061904460191726685},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2015.2404897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2404897","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G5615291912","display_name":null,"funder_award_id":"NCET-12-0214","funder_id":"https://openalex.org/F4320334924","funder_display_name":"Program for New Century Excellent Talents in University"},{"id":"https://openalex.org/G876924650","display_name":null,"funder_award_id":"61473130","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/F4320334924","display_name":"Program for New Century Excellent Talents in University","ror":"https://ror.org/01mv9t934"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1559327333","https://openalex.org/W1987977388","https://openalex.org/W1990851787","https://openalex.org/W2008714084","https://openalex.org/W2013594580","https://openalex.org/W2034903360","https://openalex.org/W2035585209","https://openalex.org/W2053659506","https://openalex.org/W2073722701","https://openalex.org/W2074833352","https://openalex.org/W2087381378","https://openalex.org/W2107122393","https://openalex.org/W2109205971","https://openalex.org/W2136650097","https://openalex.org/W2149553777","https://openalex.org/W6668952703","https://openalex.org/W6680154289"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"In":[0],"this":[1,39],"brief,":[2],"a":[3,7,20,36,47],"dynamic":[4,25,55,60],"model":[5,84],"of":[6,94,114],"mobile":[8],"wheeled":[9],"inverted":[10],"pendulum":[11],"(MWIP)":[12],"system":[13,43,89,98],"is":[14,28,44,52,67,99],"improved":[15],"considering":[16],"friction":[17],"forces,":[18],"and":[19,82,112],"nonlinear":[21],"disturbance":[22],"observer":[23],"(NDO)-based":[24],"surface":[26,56,61],"controller":[27,57,62],"investigated":[29],"to":[30,69,86,108],"control":[31],"the":[32,71,79,83,88,95,110,115],"MWIP":[33,97],"system.":[34],"Using":[35],"coordinate":[37],"transformation,":[38],"non-Class-I":[40],"type":[41],"underactuated":[42,72],"presented":[45,107],"as":[46],"semistrict":[48],"feedback":[49],"form,":[50],"which":[51],"convenient":[53],"for":[54],"design.":[58],"A":[59],"together":[63],"with":[64],"an":[65],"NDO":[66],"designed":[68],"stabilize":[70],"plant.":[73],"The":[74,92],"proposed":[75,116],"approach":[76],"can":[77],"compensate":[78],"external":[80],"disturbances":[81],"uncertainties":[85],"improve":[87],"performance":[90],"significantly.":[91],"stability":[93],"closed-loop":[96],"proved":[100],"by":[101],"Lyapunov":[102],"theorem.":[103],"Experiment":[104],"results":[105],"are":[106],"illustrate":[109],"feasibility":[111],"efficiency":[113],"method.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":31},{"year":2018,"cited_by_count":28},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
