{"id":"https://openalex.org/W2135715688","doi":"https://doi.org/10.1109/cca.2005.1507222","title":"Backstepping control for nonlinear dual smart drive","display_name":"Backstepping control for nonlinear dual smart drive","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2135715688","doi":"https://doi.org/10.1109/cca.2005.1507222","mag":"2135715688"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-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":null,"display_name":"Joao Hespanha Roemi Fernandez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134243","display_name":"National Research Council","ror":"https://ror.org/03bjn0010","country_code":"LK","type":"government","lineage":["https://openalex.org/I4210134243"]}],"countries":["LK"],"is_corresponding":true,"raw_author_name":"Joao Hespanha Roemi Fernandez","raw_affiliation_strings":["Ind. Autom. Inst., Spanish Council for Sci. Res., Madrid"],"affiliations":[{"raw_affiliation_string":"Ind. Autom. Inst., Spanish Council for Sci. Res., Madrid","institution_ids":["https://openalex.org/I4210134243"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210134243"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18930596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"773","last_page":"778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9972000122070312,"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":0.9929999709129333,"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/backstepping","display_name":"Backstepping","score":0.9549767374992371},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8239613175392151},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7529401779174805},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6855412721633911},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6557817459106445},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5893752574920654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5601078867912292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.559149444103241},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.5015075206756592},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4506551921367645},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3801324665546417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32017621397972107},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.24478110671043396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10296165943145752}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9549767374992371},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8239613175392151},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7529401779174805},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6855412721633911},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6557817459106445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5893752574920654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5601078867912292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.559149444103241},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.5015075206756592},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4506551921367645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3801324665546417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32017621397972107},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.24478110671043396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10296165943145752},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2005.1507222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.126.9339","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.126.9339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.ucsb.edu/~hespanha/published/CCA05_RFernandez_ieee.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7400000095367432,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2933394681","display_name":null,"funder_award_id":"ECS-0242798","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320323737","display_name":"Ministerio de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320332500","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1997275839","https://openalex.org/W2040642468","https://openalex.org/W2090167557","https://openalex.org/W2097467365","https://openalex.org/W2139096658","https://openalex.org/W2139852143","https://openalex.org/W2487954865","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2039235622","https://openalex.org/W2985456365","https://openalex.org/W70789149","https://openalex.org/W2265298992","https://openalex.org/W2292461600","https://openalex.org/W2892659929","https://openalex.org/W4230398471"],"abstract_inverted_index":{"Intended":[0],"for":[1,29,111],"being":[2],"used":[3],"in":[4],"legged":[5],"robots,":[6],"a":[7,63,71],"specially":[8],"designed":[9],"nonlinear":[10,58,73,108],"actuator,":[11],"dual":[12,22,113],"smart":[13,114],"drive,":[14],"which":[15,85],"offers":[16],"continuously":[17],"changing":[18],"transmission":[19],"ratio":[20],"and":[21,24,62,103],"properties,":[23],"that":[25,75],"is":[26,35,49,60,67],"very":[27],"suitable":[28],"situations":[30],"where":[31],"the":[32,46,52,80,101,106,112],"same":[33],"drive":[34,115],"required":[36],"to":[37,56,69,99],"perform":[38],"two":[39],"different":[40],"types":[41],"of":[42,45,79,83,105],"start-stop":[43],"motions":[44],"mobile":[47],"link,":[48],"introduced.":[50],"Then,":[51],"associated":[53],"control":[54,109],"problem":[55],"this":[57],"actuator":[59],"established":[61],"backstepping":[64],"design":[65],"strategy":[66],"adopted":[68],"develop":[70],"Lyapunov-based":[72],"controller":[74],"ensures":[76],"asymptotic":[77],"tracking":[78],"desired":[81],"laws":[82],"motion,":[84],"have":[86],"been":[87],"properly":[88],"selected":[89],"using":[90],"time":[91],"optimal":[92],"control.":[93],"Finally,":[94],"experimental":[95],"results":[96],"are":[97],"presented":[98],"show":[100],"effectiveness":[102],"feasibility":[104],"proposed":[107],"method":[110]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
