{"id":"https://openalex.org/W3193927674","doi":"https://doi.org/10.1109/tie.2021.3102395","title":"High-Precision Angular Speed Tracking Control of Gimbal System With Harmonic Reducer","display_name":"High-Precision Angular Speed Tracking Control of Gimbal System With Harmonic Reducer","publication_year":2021,"publication_date":"2021-08-13","ids":{"openalex":"https://openalex.org/W3193927674","doi":"https://doi.org/10.1109/tie.2021.3102395","mag":"3193927674"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3102395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3102395","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100641459","display_name":"Haitao Li","orcid":"https://orcid.org/0000-0001-9745-8023"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Li","raw_affiliation_strings":["School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-9745-8023","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042378283","display_name":"Siyi Yang","orcid":"https://orcid.org/0000-0001-8033-4788"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyi Yang","raw_affiliation_strings":["School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-8033-4788","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102853987","display_name":"L.B. Kong","orcid":"https://orcid.org/0000-0003-0069-8210"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingwen Kong","raw_affiliation_strings":["School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-0069-8210","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037280215","display_name":"Wen Tong","orcid":"https://orcid.org/0000-0002-4240-0892"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Wen","raw_affiliation_strings":["School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0002-4240-0892","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8644,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.84191188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"69","issue":"8","first_page":"8168","last_page":"8177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.995199978351593,"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"}},{"id":"https://openalex.org/T13257","display_name":"Advanced Control and Stabilization in Aerospace Systems","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/gimbal","display_name":"Gimbal","score":0.9428189992904663},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8897677063941956},{"id":"https://openalex.org/keywords/reducer","display_name":"Reducer","score":0.8164013624191284},{"id":"https://openalex.org/keywords/control-moment-gyroscope","display_name":"Control moment gyroscope","score":0.7313429117202759},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6095607280731201},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5034484267234802},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4687885046005249},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4649347960948944},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.444820761680603},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.418038547039032},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3811509609222412},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3642471432685852},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2757222056388855},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23677346110343933},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07050013542175293},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06579068303108215}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.9428189992904663},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8897677063941956},{"id":"https://openalex.org/C2776985865","wikidata":"https://www.wikidata.org/wiki/Q26820931","display_name":"Reducer","level":2,"score":0.8164013624191284},{"id":"https://openalex.org/C134425645","wikidata":"https://www.wikidata.org/wiki/Q1497982","display_name":"Control moment gyroscope","level":3,"score":0.7313429117202759},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6095607280731201},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5034484267234802},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4687885046005249},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4649347960948944},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.444820761680603},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.418038547039032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3811509609222412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3642471432685852},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2757222056388855},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23677346110343933},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07050013542175293},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06579068303108215},{"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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3102395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3102395","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3856670290","display_name":null,"funder_award_id":"61773038","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1970415072","https://openalex.org/W2015380370","https://openalex.org/W2017404808","https://openalex.org/W2018224129","https://openalex.org/W2030913535","https://openalex.org/W2032769454","https://openalex.org/W2044462507","https://openalex.org/W2045267663","https://openalex.org/W2072881791","https://openalex.org/W2081212652","https://openalex.org/W2097696157","https://openalex.org/W2102948871","https://openalex.org/W2131245153","https://openalex.org/W2160192576","https://openalex.org/W2171170705","https://openalex.org/W2193302415","https://openalex.org/W2230652337","https://openalex.org/W2375138143","https://openalex.org/W2555728991","https://openalex.org/W2586676891","https://openalex.org/W2589942074","https://openalex.org/W2593015763","https://openalex.org/W2605924239","https://openalex.org/W2802570446","https://openalex.org/W2807779388","https://openalex.org/W2824145923","https://openalex.org/W2895602741","https://openalex.org/W2916752415","https://openalex.org/W2944975360","https://openalex.org/W2966398068","https://openalex.org/W2970716277","https://openalex.org/W2979100424","https://openalex.org/W2979886137","https://openalex.org/W2997517015","https://openalex.org/W4248049034"],"related_works":["https://openalex.org/W2393821599","https://openalex.org/W1026333476","https://openalex.org/W4205318822","https://openalex.org/W2940894672","https://openalex.org/W1983880014","https://openalex.org/W2042699607","https://openalex.org/W2077388134","https://openalex.org/W20334052","https://openalex.org/W2221659834","https://openalex.org/W2075163985"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,34,42,71,89],"composite":[4,112],"controller":[5,113],"based":[6,47,78],"on":[7,48,79],"an":[8],"extended":[9],"state":[10],"observer":[11],"(ESO)":[12],"and":[13,66,83,104,131,139],"sliding-mode":[14],"control":[15,43],"(SMC)":[16],"is":[17,76,93],"presented":[18],"in":[19,37,149],"order":[20],"to":[21,95],"deal":[22],"with":[23,117],"the":[24,30,38,49,52,57,60,64,69,80,84,97,101,105,110,115,122,128,132,143,146],"angular":[25,61],"speed":[26,62],"fluctuation":[27],"caused":[28],"by":[29,126],"kinematic":[31,53],"error":[32,54],"of":[33,41,51,63,68,100,145],"harmonic":[35],"reducer":[36],"gimbal":[39,73,102,151],"system":[40,74,124,152],"moment":[44],"gyro.":[45],"First,":[46],"analysis":[50],"derived":[55],"from":[56],"relationship":[58],"between":[59],"motor":[65],"that":[67],"load,":[70],"second-order":[72],"model":[75],"established":[77],"Lagrange":[81],"function":[82],"Rayleigh":[85],"dissipation":[86],"function.":[87],"Second,":[88],"three-order":[90],"linear":[91],"ESO":[92,116],"designed":[94],"observe":[96],"uncertain":[98],"disturbances":[99,106],"system,":[103],"are":[107],"rejected":[108],"via":[109],"proposed":[111,147],"combining":[114],"SMC.":[118],"Third,":[119],"we":[120],"prove":[121],"overall":[123],"stability":[125],"using":[127],"Lyapunov":[129],"approach":[130],"final":[133],"value":[134],"theorem.":[135],"Finally,":[136],"both":[137],"simulation":[138],"experimental":[140],"results":[141],"verify":[142],"effectiveness":[144],"method":[148],"attenuating":[150],"disturbances.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}