{"id":"https://openalex.org/W2013766501","doi":"https://doi.org/10.1109/tro.2013.2239555","title":"Transformation Control to an Inverted Pendulum for a Mobile Robot With Wheel-Arms Using Partial Linearization and Polytopic Model Set","display_name":"Transformation Control to an Inverted Pendulum for a Mobile Robot With Wheel-Arms Using Partial Linearization and Polytopic Model Set","publication_year":2013,"publication_date":"2013-01-28","ids":{"openalex":"https://openalex.org/W2013766501","doi":"https://doi.org/10.1109/tro.2013.2239555","mag":"2013766501"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2013.2239555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2239555","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5054801081","display_name":"Hiroaki Fukushima","orcid":"https://orcid.org/0000-0002-0646-6974"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Fukushima","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014586986","display_name":"M. Kakue","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Kakue","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054995781","display_name":"Kazuyuki Kon","orcid":"https://orcid.org/0000-0002-1401-1953"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Kon","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"F. Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":4.014,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9335904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"29","issue":"3","first_page":"774","last_page":"783"},"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":0.9986000061035156,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976000189781189,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973000288009644,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8168385624885559},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6414045691490173},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5916153788566589},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.541441023349762},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5343842506408691},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.49758031964302063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4765603840351105},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4547123908996582},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.42694586515426636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40362998843193054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36781564354896545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2749958634376526},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16870254278182983},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13960734009742737},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11433175206184387}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8168385624885559},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6414045691490173},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5916153788566589},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.541441023349762},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5343842506408691},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.49758031964302063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4765603840351105},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4547123908996582},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.42694586515426636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40362998843193054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36781564354896545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2749958634376526},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16870254278182983},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13960734009742737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11433175206184387},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2013.2239555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2239555","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4880328861","display_name":"Dynamics Based Intelligence of Redundant Swarm Mechanical Systems with Adaptability","funder_award_id":"23360105","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":26,"referenced_works":["https://openalex.org/W177930832","https://openalex.org/W1632601927","https://openalex.org/W1969616927","https://openalex.org/W1976410223","https://openalex.org/W1978956894","https://openalex.org/W1984663416","https://openalex.org/W2005797378","https://openalex.org/W2016343476","https://openalex.org/W2035585209","https://openalex.org/W2037365904","https://openalex.org/W2062184028","https://openalex.org/W2105219792","https://openalex.org/W2120499270","https://openalex.org/W2122437859","https://openalex.org/W2130940124","https://openalex.org/W2135036398","https://openalex.org/W2149553777","https://openalex.org/W2153472126","https://openalex.org/W2153869204","https://openalex.org/W2155097487","https://openalex.org/W2168918646","https://openalex.org/W2213594914","https://openalex.org/W3210839039","https://openalex.org/W4229634948","https://openalex.org/W4230906110","https://openalex.org/W6682572505"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W2379128895","https://openalex.org/W2482919532","https://openalex.org/W2379529020","https://openalex.org/W2126122481","https://openalex.org/W2536744725","https://openalex.org/W2109445039","https://openalex.org/W2167345783"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,21,129,136,165,176],"shape":[4],"transformation":[5,19,44],"control":[6,179],"method":[7,16,207],"of":[8,35,55,57,114,123,135,204],"mobile":[10],"robot":[11,60,95,215],"with":[12,46],"wheel-arms.":[13],"The":[14,43,202],"proposed":[15,206],"aims":[17],"at":[18],"from":[20],"four-wheeled":[22],"mode":[23],"for":[24,144,195],"high-speed":[25],"mobility":[26],"to":[27,51,78,89,150,164],"an":[28],"inverted":[29],"pendulum":[30],"mode,":[31],"which":[32,132],"has":[33],"advantages":[34],"high":[36],"viewing":[37],"position":[38,96],"and":[39,65,76,119,140,213],"small":[40],"turning":[41],"radius.":[42],"starts":[45],"lifting":[47],"up":[48,75],"the":[49,53,58,62,71,79,87,90,94,101,112,115,120,124,145,152,158,169,183,190,199,205],"wheel-arms":[50],"raise":[52],"center":[54],"gravity":[56],"whole":[59],"including":[61],"main":[63],"body":[64,72,103,116,125,160,171],"arms.":[66],"From":[67],"such":[68,181],"initial":[69,91],"states,":[70],"is":[73,97,133,162,173,186,193,208],"lifted":[74],"controlled":[77,98],"target":[80,102,159,170],"angle":[81,126,161,172],"by":[82,99,127],"partial":[83],"linearization,":[84],"while":[85,189],"returning":[86],"arms":[88],"angle.":[92,104],"Then,":[93],"manipulating":[100],"Unlike":[105],"existing":[106],"methods,":[107],"we":[108,155],"take":[109],"into":[110],"account":[111],"effects":[113],"angular":[117],"velocity":[118],"tracking":[121],"error":[122],"constructing":[128],"model":[130,139,153,177,200],"set,":[131,154],"composed":[134],"single":[137],"nominal":[138],"its":[141],"polytopic":[142],"uncertainty":[143],"system":[146,185],"matrices.":[147],"In":[148],"order":[149],"derive":[151],"assume":[156],"that":[157,182],"constrained":[163],"prescribed":[166],"range.":[167],"Therefore,":[168],"manipulated":[174],"using":[175],"predictive":[178],"method,":[180],"closed-loop":[184],"asymptotically":[187],"stabilized,":[188],"given":[191],"constraint":[192],"satisfied,":[194],"all":[196],"systems":[197],"in":[198,210],"set.":[201],"effectiveness":[203],"demonstrated":[209],"both":[211],"simulations":[212],"real":[214],"experiments.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}