{"id":"https://openalex.org/W2116355994","doi":"https://doi.org/10.1109/tsmcb.2008.2005910","title":"Comprehensive Unified Control Strategy for Underactuated Two-Link Manipulators","display_name":"Comprehensive Unified Control Strategy for Underactuated Two-Link Manipulators","publication_year":2008,"publication_date":"2008-12-18","ids":{"openalex":"https://openalex.org/W2116355994","doi":"https://doi.org/10.1109/tsmcb.2008.2005910","mag":"2116355994","pmid":"https://pubmed.ncbi.nlm.nih.gov/19095554"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcb.2008.2005910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2008.2005910","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"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 Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5042853971","display_name":"Xuzhi Lai","orcid":"https://orcid.org/0000-0002-5672-6762"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu-Zhi Lai","raw_affiliation_strings":["School of Information Science and Engineering, Central South University, Changsha, China. xuzhi@mail.csu.edu.cn","[School of Information Science and Engineering, Central South University, Changsha]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Central South University, Changsha, China. xuzhi@mail.csu.edu.cn","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"[School of Information Science and Engineering, Central South University, Changsha]","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036837711","display_name":"Jin-Hua She","orcid":null},"institutions":[{"id":"https://openalex.org/I148798404","display_name":"Tokyo University of Technology","ror":"https://ror.org/021a26605","country_code":"JP","type":"education","lineage":["https://openalex.org/I148798404"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jin-Hua She","raw_affiliation_strings":["School of Computer Science, Tokyo University of Technology, Tokyo, Japan","School of Computer Science, Tokyo University of Technology, Tokyo,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Tokyo University of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]},{"raw_affiliation_string":"School of Computer Science, Tokyo University of Technology, Tokyo,","institution_ids":["https://openalex.org/I148798404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S.X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","Adv. Robot. & Intell. Syst. Lab., Univ. of Guelph, Guelph, ON"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"Adv. Robot. & Intell. Syst. Lab., Univ. of Guelph, Guelph, ON","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111798678","display_name":"Min Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Wu","raw_affiliation_strings":["School of Information Science and Engineering, Central South University, Changsha, China","[School of Information Science and Engineering, Central South University, Changsha]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"[School of Information Science and Engineering, Central South University, Changsha]","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3452,"has_fulltext":false,"cited_by_count":108,"citation_normalized_percentile":{"value":0.96460328,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"39","issue":"2","first_page":"389","last_page":"398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9988999962806702,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9988999962806702,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9983000159263611,"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":0.9927999973297119,"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":0.7741496562957764},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.7721186280250549},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7496727108955383},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.513144314289093},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.47096091508865356},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.451494425535202},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4419209063053131},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44179508090019226},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4391271471977234},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4364355504512787},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42487195134162903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.392455518245697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3905082941055298},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.3410985767841339},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17031964659690857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08473852276802063},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06415984034538269}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7741496562957764},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.7721186280250549},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7496727108955383},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.513144314289093},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.47096091508865356},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.451494425535202},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4419209063053131},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44179508090019226},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4391271471977234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4364355504512787},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42487195134162903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.392455518245697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3905082941055298},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.3410985767841339},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17031964659690857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08473852276802063},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06415984034538269},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmcb.2008.2005910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2008.2005910","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"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 Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},{"id":"pmid:19095554","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/19095554","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W19432330","https://openalex.org/W1499342645","https://openalex.org/W1505317454","https://openalex.org/W1552094772","https://openalex.org/W1574478348","https://openalex.org/W1902370775","https://openalex.org/W1946242516","https://openalex.org/W1967888769","https://openalex.org/W2004625566","https://openalex.org/W2008488513","https://openalex.org/W2013232999","https://openalex.org/W2023126268","https://openalex.org/W2028023890","https://openalex.org/W2041521369","https://openalex.org/W2073559194","https://openalex.org/W2102041738","https://openalex.org/W2102802181","https://openalex.org/W2107387526","https://openalex.org/W2111683789","https://openalex.org/W2116361461","https://openalex.org/W2118741873","https://openalex.org/W2136650097","https://openalex.org/W2140907765","https://openalex.org/W2162297159","https://openalex.org/W2168164612","https://openalex.org/W2181787371","https://openalex.org/W6600799268","https://openalex.org/W6680154289"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W2475132469","https://openalex.org/W2147929414","https://openalex.org/W1970635650","https://openalex.org/W2383986032","https://openalex.org/W2496188264","https://openalex.org/W2358066536","https://openalex.org/W2126112326","https://openalex.org/W1976574339","https://openalex.org/W1990962645"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,37,42,76,125,147],"unified":[4],"treatment":[5],"of":[6,10,53,58,69,79,88,124,136],"the":[7,51,56,59,63,70,80,89,96,100,111,118,122,133,137,144],"motion":[8,19],"control":[9,30,38,55,90,101,106,138],"underactuated":[11],"two-link":[12],"manipulators,":[13],"including":[14],"acrobots":[15],"and":[16,27,29,54,146],"pendubots.":[17],"The":[18],"space":[20],"is":[21,47,72,92,108,115,140],"divided":[22],"into":[23],"two":[24],"areas:":[25],"swing-up":[26,64,119],"attractive;":[28],"laws":[31],"are":[32],"designed":[33,109],"for":[34,110],"each.":[35],"First,":[36],"law":[39,91,107],"based":[40,94,127],"on":[41,95,128],"weak-control":[43],"Lyapunov":[44,149],"function":[45,78],"(WCLF)":[46],"employed":[48],"to":[49,74,82,98],"increase":[50],"energy":[52],"posture":[57],"actuated":[60],"link":[61],"in":[62,117],"area.":[65,113],"Next,":[66],"one":[67],"parameter":[68,87],"WCLF":[71,126,145],"chosen":[73],"be":[75],"nonlinear":[77],"state":[81,97],"avoid":[83],"singularities.":[84],"Then,":[85],"another":[86],"adjusted":[93],"improve":[99],"performance.":[102],"Finally,":[103],"an":[104],"optimal":[105],"attractive":[112],"Stability":[114],"guaranteed":[116,141],"area":[120],"by":[121,142],"use":[123],"LaSalle's":[129],"invariance":[130],"principle.":[131],"Moreover,":[132],"global":[134],"stability":[135],"system":[139],"integrating":[143],"nonsmooth":[148],"function.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":9}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
