{"id":"https://openalex.org/W4388220060","doi":"https://doi.org/10.1145/3610419.3610437","title":"Bond Graph Modeling and LQR Based Neuro-Fuzzy Control of Spatial Inverted Pendulum","display_name":"Bond Graph Modeling and LQR Based Neuro-Fuzzy Control of Spatial Inverted Pendulum","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4388220060","doi":"https://doi.org/10.1145/3610419.3610437"},"language":"en","primary_location":{"id":"doi:10.1145/3610419.3610437","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048482754","display_name":"Ishan Chawla","orcid":"https://orcid.org/0000-0003-4094-4543"},"institutions":[{"id":"https://openalex.org/I162030827","display_name":"Thapar Institute of Engineering & Technology","ror":"https://ror.org/00wdq3744","country_code":"IN","type":"education","lineage":["https://openalex.org/I162030827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ishan Chawla","raw_affiliation_strings":["Thapar Institute of Engineering and Technology, India"],"raw_orcid":"https://orcid.org/0000-0003-4094-4543","affiliations":[{"raw_affiliation_string":"Thapar Institute of Engineering and Technology, India","institution_ids":["https://openalex.org/I162030827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085712","display_name":"Vitalram Rayankula","orcid":"https://orcid.org/0000-0002-0771-2145"},"institutions":[{"id":"https://openalex.org/I4400009046","display_name":"SRKR Engineering College","ror":"https://ror.org/038qac964","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009046"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vitalram Rayankula","raw_affiliation_strings":["SRKR Engineering College, India"],"raw_orcid":"https://orcid.org/0000-0002-0771-2145","affiliations":[{"raw_affiliation_string":"SRKR Engineering College, India","institution_ids":["https://openalex.org/I4400009046"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vikram Chopra","orcid":"https://orcid.org/0000-0001-6093-4698"},"institutions":[{"id":"https://openalex.org/I162030827","display_name":"Thapar Institute of Engineering & Technology","ror":"https://ror.org/00wdq3744","country_code":"IN","type":"education","lineage":["https://openalex.org/I162030827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vikram Chopra","raw_affiliation_strings":["Thapar Institute of Engineering and Technology, India"],"raw_orcid":"https://orcid.org/0000-0001-6093-4698","affiliations":[{"raw_affiliation_string":"Thapar Institute of Engineering and Technology, India","institution_ids":["https://openalex.org/I162030827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034840637","display_name":"Ashish Singla","orcid":"https://orcid.org/0000-0001-8609-8923"},"institutions":[{"id":"https://openalex.org/I162030827","display_name":"Thapar Institute of Engineering & Technology","ror":"https://ror.org/00wdq3744","country_code":"IN","type":"education","lineage":["https://openalex.org/I162030827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ashish Singla","raw_affiliation_strings":["Thapar Institute of Engineering and Technology, India"],"raw_orcid":"https://orcid.org/0000-0001-8609-8923","affiliations":[{"raw_affiliation_string":"Thapar Institute of Engineering and Technology, India","institution_ids":["https://openalex.org/I162030827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9966999888420105,"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":0.9966999888420105,"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":0.965499997138977,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9606000185012817,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8906779289245605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.779228687286377},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6245824694633484},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5481321811676025},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5026073455810547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49084359407424927},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46502992510795593},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.42796605825424194},{"id":"https://openalex.org/keywords/bond-graph","display_name":"Bond graph","score":0.4252403974533081},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3243722915649414},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.26321399211883545},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17752119898796082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1597183644771576},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11951828002929688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10071238875389099},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06826639175415039}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8906779289245605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.779228687286377},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6245824694633484},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5481321811676025},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5026073455810547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49084359407424927},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46502992510795593},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.42796605825424194},{"id":"https://openalex.org/C187593909","wikidata":"https://www.wikidata.org/wiki/Q838024","display_name":"Bond graph","level":2,"score":0.4252403974533081},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3243722915649414},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.26321399211883545},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17752119898796082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1597183644771576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11951828002929688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10071238875389099},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06826639175415039},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3610419.3610437","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W276211960","https://openalex.org/W1592409232","https://openalex.org/W1651538020","https://openalex.org/W1988004583","https://openalex.org/W2013232999","https://openalex.org/W2019207321","https://openalex.org/W2117024129","https://openalex.org/W2122535864","https://openalex.org/W2788206394","https://openalex.org/W4231726334","https://openalex.org/W4246463991","https://openalex.org/W4251571580","https://openalex.org/W4254089362","https://openalex.org/W6640956391","https://openalex.org/W6676883415","https://openalex.org/W6815450245"],"related_works":["https://openalex.org/W3009669764","https://openalex.org/W1958094387","https://openalex.org/W2032170356","https://openalex.org/W2775112436","https://openalex.org/W3326829","https://openalex.org/W2350013143","https://openalex.org/W3046172785","https://openalex.org/W2385948153","https://openalex.org/W2353814909","https://openalex.org/W2147778705"],"abstract_inverted_index":{"The":[0,109,148,162,177],"dynamics":[1,34,123],"of":[2,10,35,48,59,87,100,116,145,154,164],"inverted":[3,17,41,60,64,70],"pendulum":[4,18,42,61,71,175],"systems":[5,19],"have":[6,20],"an":[7,152],"inherit":[8],"property":[9],"instability,":[11],"nonlinearity":[12],"and":[13,80,119,140,197],"underactuation.":[14,92],"Therefore,":[15],"the":[16,33,40,46,96,117,121,127,143,146,165,182,190],"been":[21],"recognized":[22],"as":[23,89,91],"a":[24,56],"benchmark":[25],"problem":[26],"to":[27,68,78,83,104,158,199],"validate":[28],"emerging":[29],"controllers.":[30],"In":[31,66],"addition,":[32],"many":[36],"real-world":[37],"system":[38,74,103],"resembles":[39],"systems.":[43],"To":[44],"broaden":[45],"diversity":[47],"this":[49,52,73,101],"classical":[50,69,159],"system,":[51],"work":[53],"focuses":[54],"on":[55,132],"new":[57],"type":[58],"i.e.,":[62],"spatial":[63],"pendulum.":[65],"contrast":[67],"systems,":[72],"is":[75,138,168,185],"highly":[76],"complex":[77,102,122],"model":[79,99,118],"control":[81],"due":[82],"its":[84,106],"large":[85],"degrees":[86],"freedom":[88],"well":[90],"This":[93],"paper":[94],"proposes":[95],"bond":[97,110],"graph":[98,111],"derive":[105],"dynamic":[107],"equations.":[108],"technique":[112],"only":[113],"requires":[114],"kinematics":[115],"derives":[120],"by":[124,170,193],"itself.":[125],"Furthermore,":[126],"robust":[128],"neuro-fuzzy":[129],"controller":[130,137,150,167,188,192],"based":[131],"linear":[133],"quadratic":[134],"regulator":[135],"(LQR)":[136],"designed":[139],"simulated":[141],"for":[142,173],"stabilization":[144],"system.":[147],"proposed":[149,166,187],"provides":[151],"advantage":[153],"improved":[155],"robustness":[156,163,198],"compared":[157],"LQR":[160,191],"controller.":[161],"verified":[169],"simulation":[171],"results":[172,178],"various":[174],"masses.":[176],"demonstrate":[179],"that":[180],"when":[181],"mass":[183],"variation":[184],"significant,":[186],"outperforms":[189],"achieving":[194],"superior":[195],"performance":[196],"parameter":[200],"uncertainties.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}