{"id":"https://openalex.org/W2889596629","doi":"https://doi.org/10.1109/tcst.2018.2865762","title":"Nonlinear Optimal Control for Swing Up and Stabilization of the Acrobot via Stable Manifold Approach: Theory and Experiment","display_name":"Nonlinear Optimal Control for Swing Up and Stabilization of the Acrobot via Stable Manifold Approach: Theory and Experiment","publication_year":2018,"publication_date":"2018-09-18","ids":{"openalex":"https://openalex.org/W2889596629","doi":"https://doi.org/10.1109/tcst.2018.2865762","mag":"2889596629"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2018.2865762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2865762","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/A5058488504","display_name":"Takamasa Horibe","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamasa Horibe","raw_affiliation_strings":["Department of Aerospace Engineering, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019495805","display_name":"Noboru Sakamoto","orcid":"https://orcid.org/0000-0002-4684-0297"},"institutions":[{"id":"https://openalex.org/I119031078","display_name":"Nanzan University","ror":"https://ror.org/042b6j696","country_code":"JP","type":"education","lineage":["https://openalex.org/I119031078"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Noboru Sakamoto","raw_affiliation_strings":["Faculty of Science and Engineering, Nanzan University, Nagoya, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4684-0297","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Nanzan University, Nagoya, Japan","institution_ids":["https://openalex.org/I119031078"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4353,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.89623772,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"27","issue":"6","first_page":"2374","last_page":"2387"},"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":0.9937999844551086,"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":0.9937999844551086,"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":0.9876999855041504,"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":0.9829000234603882,"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":0.815342366695404},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7352168560028076},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.714066207408905},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6276530623435974},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5954493284225464},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5630605220794678},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5039786696434021},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46188563108444214},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43873587250709534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40933331847190857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3827599585056305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30567893385887146},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.26523691415786743},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24685344099998474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13301348686218262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10168144106864929}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.815342366695404},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7352168560028076},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.714066207408905},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6276530623435974},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5954493284225464},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5630605220794678},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5039786696434021},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46188563108444214},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43873587250709534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40933331847190857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3827599585056305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30567893385887146},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26523691415786743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24685344099998474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13301348686218262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10168144106864929},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2018.2865762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2865762","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":77,"referenced_works":["https://openalex.org/W74294323","https://openalex.org/W124620454","https://openalex.org/W369194149","https://openalex.org/W1003609772","https://openalex.org/W1505317454","https://openalex.org/W1521869277","https://openalex.org/W1525296519","https://openalex.org/W1547930079","https://openalex.org/W1589876408","https://openalex.org/W1603340857","https://openalex.org/W1797600179","https://openalex.org/W1887006513","https://openalex.org/W1966939232","https://openalex.org/W1972079118","https://openalex.org/W1978363680","https://openalex.org/W1980115416","https://openalex.org/W2002983891","https://openalex.org/W2013232999","https://openalex.org/W2013781074","https://openalex.org/W2022397098","https://openalex.org/W2023098214","https://openalex.org/W2026828905","https://openalex.org/W2027585176","https://openalex.org/W2046413105","https://openalex.org/W2047090868","https://openalex.org/W2056773491","https://openalex.org/W2068328804","https://openalex.org/W2071509239","https://openalex.org/W2076312345","https://openalex.org/W2077011938","https://openalex.org/W2077730310","https://openalex.org/W2079121704","https://openalex.org/W2084135896","https://openalex.org/W2086531079","https://openalex.org/W2093459505","https://openalex.org/W2093497104","https://openalex.org/W2097089521","https://openalex.org/W2097328395","https://openalex.org/W2100621899","https://openalex.org/W2107387526","https://openalex.org/W2109373955","https://openalex.org/W2109640889","https://openalex.org/W2111470704","https://openalex.org/W2112507254","https://openalex.org/W2113350382","https://openalex.org/W2116355994","https://openalex.org/W2119539370","https://openalex.org/W2122850819","https://openalex.org/W2126479355","https://openalex.org/W2127055892","https://openalex.org/W2127795189","https://openalex.org/W2128592712","https://openalex.org/W2131407609","https://openalex.org/W2135563145","https://openalex.org/W2140034347","https://openalex.org/W2141001639","https://openalex.org/W2142184759","https://openalex.org/W2144355672","https://openalex.org/W2149224990","https://openalex.org/W2158045598","https://openalex.org/W2159699010","https://openalex.org/W2161401171","https://openalex.org/W2163494125","https://openalex.org/W2168164612","https://openalex.org/W2171676780","https://openalex.org/W2217976303","https://openalex.org/W2321052409","https://openalex.org/W2567492477","https://openalex.org/W2569186580","https://openalex.org/W2593095272","https://openalex.org/W2657933067","https://openalex.org/W3135593729","https://openalex.org/W4241290540","https://openalex.org/W4292872153","https://openalex.org/W6603036728","https://openalex.org/W6638506979","https://openalex.org/W6675973516"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W34871393","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W1524683553","https://openalex.org/W2810725684","https://openalex.org/W2137525473"],"abstract_inverted_index":{"This":[0,81,99],"paper":[1,100],"presents":[2],"a":[3,88,95],"solution":[4],"for":[5,11,22,42,91,108,120],"the":[6,12,18,35,40,43,52,61,68,71,74,79,83,92,103,109,121,124],"swing-up":[7,89],"and":[8,70,76,123],"stabilization":[9],"problem":[10,46],"Acrobot.":[13],"The":[14],"method":[15,21],"employed":[16],"is":[17,32,64,82,113,126],"stable":[19],"manifold":[20],"optimal":[23,44],"control,":[24],"which":[25],"numerically":[26],"solves":[27],"Hamilton-Jacobi":[28],"equations":[29],"(HJEs).":[30],"It":[31,112],"shown":[33,115],"that":[34,116],"feedback":[36],"controller":[37],"derived":[38],"from":[39],"HJE":[41,122],"control":[45,62,90],"exploits":[47],"an":[48],"inherent":[49],"motion":[50],"in":[51],"Acrobot":[53,93],"using":[54],"reactions":[55],"of":[56,78,87,130],"arms":[57],"effectively":[58],"and,":[59],"therefore,":[60],"input":[63],"kept":[65],"low.":[66],"Both":[67],"simulation":[69],"experiment":[72,125],"confirm":[73],"effectiveness":[75],"robustness":[77],"controller.":[80,98],"first":[84],"experimental":[85],"result":[86],"with":[94,105,128],"single":[96],"continuous":[97],"also":[101,114],"discusses":[102],"comparison":[104],"existing":[106],"approaches":[107],"same":[110],"problem.":[111],"nonunique":[117],"solutions":[118],"exist":[119],"conducted":[127],"one":[129],"those.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}