{"id":"https://openalex.org/W2565478864","doi":"https://doi.org/10.1109/tcst.2016.2637719","title":"Passivity-Based Control for a Rolling-Balancing System: The Nonprehensile Disk-on-Disk","display_name":"Passivity-Based Control for a Rolling-Balancing System: The Nonprehensile Disk-on-Disk","publication_year":2016,"publication_date":"2016-12-28","ids":{"openalex":"https://openalex.org/W2565478864","doi":"https://doi.org/10.1109/tcst.2016.2637719","mag":"2565478864"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2016.2637719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2637719","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/A5066662318","display_name":"Alejandro Donaire","orcid":"https://orcid.org/0000-0002-9616-5883"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]},{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU","IT"],"is_corresponding":false,"raw_author_name":"Alejandro Donaire","raw_affiliation_strings":["CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","School of Engineering, The University of Newcastle, Callaghan, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-9616-5883","affiliations":[{"raw_affiliation_string":"CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"School of Engineering, The University of Newcastle, Callaghan, NSW, Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010464503","display_name":"Fabio Ruggiero","orcid":"https://orcid.org/0000-0001-7539-9157"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Ruggiero","raw_affiliation_strings":["CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086317389","display_name":"Luca Rosario Buonocore","orcid":"https://orcid.org/0000-0001-5396-2519"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Rosario Buonocore","raw_affiliation_strings":["CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004747263","display_name":"Vincenzo Lippiello","orcid":"https://orcid.org/0000-0002-6089-2333"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo Lippiello","raw_affiliation_strings":["CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bruno Siciliano","raw_affiliation_strings":["CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, CREATE Consortium, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1577,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92238364,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"6","first_page":"2135","last_page":"2142"},"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":0.9979000091552734,"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"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9901000261306763,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9883000254631042,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.759034276008606},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.6668851971626282},{"id":"https://openalex.org/keywords/hard-disk-drive-performance-characteristics","display_name":"Hard disk drive performance characteristics","score":0.6562392711639404},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.625944197177887},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.581417977809906},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5727381706237793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4342323839664459},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42656442523002625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4202296733856201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3700397312641144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2822916507720947},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18343442678451538},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18096110224723816}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.759034276008606},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.6668851971626282},{"id":"https://openalex.org/C149881561","wikidata":"https://www.wikidata.org/wiki/Q5655518","display_name":"Hard disk drive performance characteristics","level":2,"score":0.6562392711639404},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.625944197177887},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.581417977809906},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5727381706237793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4342323839664459},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42656442523002625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4202296733856201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3700397312641144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2822916507720947},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18343442678451538},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18096110224723816},{"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/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"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.2016.2637719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2637719","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":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G879610272","display_name":null,"funder_award_id":"320992","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W83066797","https://openalex.org/W1544277262","https://openalex.org/W1564897360","https://openalex.org/W1941843239","https://openalex.org/W1963644541","https://openalex.org/W1968277177","https://openalex.org/W1976935191","https://openalex.org/W1992256494","https://openalex.org/W2010072864","https://openalex.org/W2017026896","https://openalex.org/W2034005720","https://openalex.org/W2045291062","https://openalex.org/W2045666702","https://openalex.org/W2045887718","https://openalex.org/W2055636711","https://openalex.org/W2064259637","https://openalex.org/W2081727243","https://openalex.org/W2083391079","https://openalex.org/W2101116544","https://openalex.org/W2101196304","https://openalex.org/W2115643799","https://openalex.org/W2123234393","https://openalex.org/W2125968092","https://openalex.org/W2127098779","https://openalex.org/W2138478504","https://openalex.org/W2138921047","https://openalex.org/W2151074277","https://openalex.org/W2151918200","https://openalex.org/W2167664500","https://openalex.org/W2170167988","https://openalex.org/W2310008819","https://openalex.org/W4230616527","https://openalex.org/W4300973486","https://openalex.org/W6682297448"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W4233304828","https://openalex.org/W2372999110","https://openalex.org/W4239268637","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W3176430321"],"abstract_inverted_index":{"In":[0],"this":[1],"brief,":[2],"we":[3,53,68],"propose":[4],"a":[5,10,77,102],"passivity-based":[6],"control":[7,86],"design":[8,106,144],"for":[9],"rolling-balancing":[11],"system":[12,37],"called":[13],"the":[14,20,47,55,64,70,81,91,94,99,113,120,125,128,139,143],"disk-on-disk":[15],"(DoD).":[16],"The":[17,31,49,72,85],"stabilization":[18],"of":[19,39,46,127,142],"desired":[21,103],"equilibrium":[22],"is":[23,33,57,74,83,88],"obtained":[24],"via":[25],"energy":[26,108],"shaping":[27,109],"and":[28,97,133],"damping":[29],"injection.":[30],"DoD":[32],"an":[34,107],"underactuated":[35],"mechanical":[36],"composed":[38],"two":[40],"disks":[41],"arranged":[42],"one":[43],"on":[44,63],"top":[45,50],"other.":[48],"disk,":[51,66],"which":[52,67,117,136],"call":[54,69],"object,":[56],"free":[58],"to":[59,89,101],"roll":[60],"without":[61,111],"slipping":[62],"lower":[65],"hand.":[71],"hand":[73,100],"actuated":[75],"by":[76,130],"controlled":[78],"torque,":[79],"while":[80],"object":[82,92],"unactuated.":[84],"objective":[87],"balance":[90],"at":[93],"upright":[95],"position":[96],"drive":[98],"angle.":[104],"We":[105,123],"controller":[110,129],"solving":[112],"partial":[114],"differential":[115],"equations,":[116],"rise":[118],"from":[119],"matching":[121],"equation.":[122],"assess":[124],"performance":[126],"both":[131],"simulations":[132],"experiment":[134],"results,":[135],"also":[137],"verify":[138],"practical":[140],"applicability":[141],"approach.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}