{"id":"https://openalex.org/W2087806418","doi":"https://doi.org/10.1109/tcst.2015.2417499","title":"Dynamics-Based Nonlinear Acceleration Control With Energy Shaping for a Mobile Inverted Pendulum With a Slider Mechanism","display_name":"Dynamics-Based Nonlinear Acceleration Control With Energy Shaping for a Mobile Inverted Pendulum With a Slider Mechanism","publication_year":2015,"publication_date":"2015-04-14","ids":{"openalex":"https://openalex.org/W2087806418","doi":"https://doi.org/10.1109/tcst.2015.2417499","mag":"2087806418"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2417499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2417499","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/A5111809668","display_name":"Kazuto YOKOYAMA","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazuto Yokoyama","raw_affiliation_strings":["School of Science for Open and Environmental System, Keio University, Yokohama, Japan","[School of Science for Open and Environmental System, Keio University, Yokohama, Japan]"],"affiliations":[{"raw_affiliation_string":"School of Science for Open and Environmental System, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[School of Science for Open and Environmental System, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039641882","display_name":"Masaki Takahashi","orcid":"https://orcid.org/0000-0001-8138-041X"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Takahashi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111809668"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":3.366,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.92509842,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"24","issue":"1","first_page":"40","last_page":"55"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9986000061035156,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9986000061035156,"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":0.9979000091552734,"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":0.9873999953269958,"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":0.8456974029541016},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6689184904098511},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6469626426696777},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6460703611373901},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5234824419021606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41197121143341064},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.41103261709213257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40348124504089355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34067219495773315},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17105698585510254},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0931817889213562},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08100554347038269}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8456974029541016},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6689184904098511},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6469626426696777},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6460703611373901},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5234824419021606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41197121143341064},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.41103261709213257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40348124504089355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34067219495773315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17105698585510254},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0931817889213562},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08100554347038269},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2015.2417499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2417499","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":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5634244241","display_name":null,"funder_award_id":"6559","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1810704639","https://openalex.org/W1974028959","https://openalex.org/W1987977388","https://openalex.org/W2003999924","https://openalex.org/W2012367427","https://openalex.org/W2035585209","https://openalex.org/W2048253740","https://openalex.org/W2050323805","https://openalex.org/W2053096287","https://openalex.org/W2081727243","https://openalex.org/W2096323098","https://openalex.org/W2125968092","https://openalex.org/W2144355672","https://openalex.org/W2396387942","https://openalex.org/W2595582741","https://openalex.org/W2729423951","https://openalex.org/W3141676965","https://openalex.org/W4214690803","https://openalex.org/W4242059591","https://openalex.org/W6638439912","https://openalex.org/W6712678807","https://openalex.org/W6740481780"],"related_works":["https://openalex.org/W4206718122","https://openalex.org/W1971360108","https://openalex.org/W2116362730","https://openalex.org/W2085768472","https://openalex.org/W2980380191","https://openalex.org/W2164325508","https://openalex.org/W2057508013","https://openalex.org/W2414535689","https://openalex.org/W2005150327","https://openalex.org/W2088253028"],"abstract_inverted_index":{"A":[0],"nonlinear":[1],"controller":[2,121,160,188,217],"to":[3,22,44,59,65,102,116,118,138,166,181],"accelerate":[4],"a":[5,11,32,60,75,194],"mobile":[6],"inverted":[7],"pendulum":[8],"(MIP)":[9],"with":[10,170,205],"slider":[12,40],"mechanism":[13],"is":[14,21,51,73,100,114,144,154,189],"proposed.":[15,145],"The":[16,36,70,120,146,159,184,211],"concept":[17],"of":[18,28,67,88,97,141,151,186,223],"this":[19],"paper":[20],"control":[23],"translational":[24,62],"acceleration":[25,63],"and":[26,39,82,111,200,228],"deceleration":[27],"the":[29,49,68,79,86,89,94,98,104,107,112,127,142,152,163,167,177,187,215,221],"MIP":[30,50,143,153,197],"in":[31,191,220],"dynamically":[33,55],"reasonable":[34],"manner.":[35],"body":[37],"angle":[38],"displacement":[41],"are":[42],"controlled":[43,115],"maintain":[45],"reference":[46,109,168],"states":[47,110,169],"where":[48],"statically":[52],"unstable":[53],"but":[54],"stable,":[56],"which":[57],"leads":[58],"constant":[61],"due":[64],"instability":[66],"vehicle.":[69],"accelerating":[71],"motion":[72,150],"like":[74],"sprinter":[76],"moving":[77],"from":[78],"crouch":[80],"start,":[81],"it":[83],"fully":[84],"exploits":[85],"dynamics":[87],"MIP.":[90],"To":[91],"achieve":[92,123],"it,":[93],"total":[95],"energy":[96,133],"system":[99,113,164,178],"shaped":[101],"have":[103],"minimum":[105],"at":[106],"given":[108],"converge":[117],"them.":[119],"can":[122],"various":[124],"properties":[125],"through":[126],"energy-shaping":[128],"procedure.":[129],"In":[130],"particular,":[131],"an":[132,206],"function":[134,147],"that":[135,149,173,214],"will":[136],"lead":[137],"safe":[139],"operation":[140],"ensures":[148],"restricted":[155],"within":[156],"predefined":[157],"regions.":[158],"also":[161],"returns":[162],"back":[165],"state-dependent":[171],"gains":[172],"become":[174],"large":[175],"if":[176],"comes":[179],"close":[180],"falling":[182],"over.":[183],"effectiveness":[185],"verified":[190],"simulations.":[192],"Finally,":[193],"new":[195],"physical":[196],"was":[198],"constructed,":[199],"experiments":[201],"were":[202],"carried":[203],"out":[204],"additional":[207],"friction":[208],"compensation":[209],"method.":[210],"results":[212],"show":[213],"proposed":[216],"works":[218],"well":[219],"presence":[222],"uncertainty,":[224],"such":[225],"as":[226],"noise":[227],"modeling":[229],"errors.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}