{"id":"https://openalex.org/W4402264907","doi":"https://doi.org/10.23919/acc60939.2024.10644490","title":"Cascaded Nonlinear Control Design for Highly Underactuated Balance Robots","display_name":"Cascaded Nonlinear Control Design for Highly Underactuated Balance Robots","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402264907","doi":"https://doi.org/10.23919/acc60939.2024.10644490"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644490","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","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/A5003746021","display_name":"Feng Han","orcid":"https://orcid.org/0000-0002-8993-5157"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feng Han","raw_affiliation_strings":["Rutgers University,Department of Mechanical and Aerospace Engineering,Piscataway,NJ,USA,08854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Mechanical and Aerospace Engineering,Piscataway,NJ,USA,08854","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090869394","display_name":"Jingang Yi","orcid":"https://orcid.org/0000-0003-0628-9098"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingang Yi","raw_affiliation_strings":["Rutgers University,Department of Mechanical and Aerospace Engineering,Piscataway,NJ,USA,08854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Mechanical and Aerospace Engineering,Piscataway,NJ,USA,08854","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102322142"],"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":"581","last_page":"586"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9968000054359436,"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/underactuation","display_name":"Underactuation","score":0.7918550372123718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6329717040061951},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6058254241943359},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5777645707130432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435343980789185},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.5297642350196838},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46204185485839844},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4597087502479553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21913525462150574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13793429732322693},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07539346814155579},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06136298179626465}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7918550372123718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6329717040061951},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6058254241943359},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5777645707130432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435343980789185},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.5297642350196838},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46204185485839844},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4597087502479553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21913525462150574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13793429732322693},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07539346814155579},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06136298179626465},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644490","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2427684056","display_name":null,"funder_award_id":"CNS-1932370","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1980767970","https://openalex.org/W2010398082","https://openalex.org/W2092024265","https://openalex.org/W2111683789","https://openalex.org/W2128131727","https://openalex.org/W2137570966","https://openalex.org/W2162654962","https://openalex.org/W2341801823","https://openalex.org/W2740104662","https://openalex.org/W2810195925","https://openalex.org/W2947718755","https://openalex.org/W3009081463","https://openalex.org/W3021877277","https://openalex.org/W3117233244","https://openalex.org/W3127985208","https://openalex.org/W4224311842","https://openalex.org/W4249306998","https://openalex.org/W4285223425","https://openalex.org/W4296558737","https://openalex.org/W4383171988","https://openalex.org/W4387163495","https://openalex.org/W6856887132"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4321093571"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38,42,97,115],"nonlinear":[4],"control":[5,36,64,111],"design":[6,57,112],"for":[7],"highly":[8],"underactuated":[9],"balance":[10,69],"robots,":[11],"where":[12],"the":[13,27,35,60,68,73,91,100,106,109],"number":[14],"of":[15,22,29,44,49,108],"unactuated":[16,74],"degree-of-freedom":[17],"is":[18,51],"greater":[19],"than":[20],"that":[21,72],"actuated":[23],"one.":[24],"To":[25],"address":[26],"challenge":[28],"simultaneously":[30],"trajectory":[31],"tracking":[32,92],"and":[33,47,58,62,90],"balancing,":[34],"converts":[37],"robot":[39],"dynamics":[40,84],"into":[41],"series":[43],"cascaded":[45],"subsystems":[46],"each":[48],"them":[50],"con-sidered":[52],"virtually":[53],"actuated.":[54],"We":[55],"sequentially":[56],"update":[59],"virtual":[61],"actual":[63],"inputs":[65],"to":[66,78,87],"incorporate":[67],"task":[70],"such":[71],"coordinates":[75],"are":[76,85],"balanced":[77],"their":[79],"instantaneous":[80],"equilibrium.":[81],"The":[82,102],"closed-loop":[83],"shown":[86],"be":[88],"stable":[89],"errors":[93],"exponentially":[94],"converge":[95],"towards":[96],"neighborhood":[98],"near":[99],"origin.":[101],"simulation":[103],"results":[104],"demonstrate":[105],"effectiveness":[107],"proposed":[110],"by":[113],"using":[114],"triple-inverted":[116],"pendulum":[117],"cart":[118],"system.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}