{"id":"https://openalex.org/W6967218294","doi":"https://doi.org/10.48550/arxiv.2503.18926","title":"Inertial-Based LQG Control: A New Look at Inverted Pendulum Stabilization","display_name":"Inertial-Based LQG Control: A New Look at Inverted Pendulum Stabilization","publication_year":2025,"publication_date":"2025-03-24","ids":{"openalex":"https://openalex.org/W6967218294","doi":"https://doi.org/10.48550/arxiv.2503.18926"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2503.18926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2503.18926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2503.18926","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Engelsman, Daniel","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Engelsman, Daniel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Klein, Itzik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Klein, Itzik","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.5042999982833862,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.5042999982833862,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.14579999446868896,"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":0.0494999997317791,"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/nucleofection","display_name":"Nucleofection","score":0.40709999203681946},{"id":"https://openalex.org/keywords/hyporeflexia","display_name":"Hyporeflexia","score":0.31850001215934753},{"id":"https://openalex.org/keywords/gestational-period","display_name":"Gestational period","score":0.3124000132083893},{"id":"https://openalex.org/keywords/articular-cartilage-damage","display_name":"Articular cartilage damage","score":0.30320000648498535},{"id":"https://openalex.org/keywords/tsg101","display_name":"TSG101","score":0.2992999851703644},{"id":"https://openalex.org/keywords/fusible-alloy","display_name":"Fusible alloy","score":0.2818000018596649}],"concepts":[{"id":"https://openalex.org/C144251240","wikidata":"https://www.wikidata.org/wiki/Q7068229","display_name":"Nucleofection","level":4,"score":0.40709999203681946},{"id":"https://openalex.org/C2777158700","wikidata":"https://www.wikidata.org/wiki/Q1419356","display_name":"Hyporeflexia","level":3,"score":0.31850001215934753},{"id":"https://openalex.org/C2992336715","wikidata":"https://www.wikidata.org/wiki/Q63431143","display_name":"Gestational period","level":4,"score":0.3124000132083893},{"id":"https://openalex.org/C2781032047","wikidata":"https://www.wikidata.org/wiki/Q938793","display_name":"Articular cartilage damage","level":5,"score":0.30320000648498535},{"id":"https://openalex.org/C2778283623","wikidata":"https://www.wikidata.org/wiki/Q18032200","display_name":"TSG101","level":5,"score":0.2992999851703644},{"id":"https://openalex.org/C133074676","wikidata":"https://www.wikidata.org/wiki/Q428729","display_name":"Fusible alloy","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C18743360","wikidata":"https://www.wikidata.org/wiki/Q1208096","display_name":"Diafiltration","level":4,"score":0.27869999408721924},{"id":"https://openalex.org/C104545631","wikidata":"https://www.wikidata.org/wiki/Q464858","display_name":"Demotion","level":3,"score":0.2727999985218048},{"id":"https://openalex.org/C145741570","wikidata":"https://www.wikidata.org/wiki/Q7251534","display_name":"Proteogenomics","level":5,"score":0.2678999900817871},{"id":"https://openalex.org/C135979968","wikidata":"https://www.wikidata.org/wiki/Q609809","display_name":"Protein isoform","level":5,"score":0.24729999899864197}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2503.18926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2503.18926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2503.18926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2503.18926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Linear":[0],"quadratic":[1],"Gaussian":[2],"(LQG)":[3],"control":[4,11],"is":[5,76],"a":[6,22,89,146],"well-established":[7],"method":[8],"for":[9,105,154],"optimal":[10],"through":[12,79],"state":[13,61,143],"estimation,":[14,144],"particularly":[15],"in":[16,43,116],"stabilizing":[17,106],"an":[18],"inverted":[19],"pendulum":[20],"on":[21,84],"cart.":[23],"In":[24,120],"standard":[25],"laboratory":[26],"setups,":[27],"sensor":[28,58,80],"redundancy":[29],"enables":[30],"direct":[31],"measurement":[32],"of":[33],"configuration":[34],"variables":[35],"using":[36],"displacement":[37],"sensors":[38,86],"and":[39,53,87],"rotary":[40],"encoders.":[41],"However,":[42],"outdoor":[44],"environments,":[45],"dynamically":[46,155],"stable":[47,156],"mobile":[48,157],"platforms-such":[49],"as":[50,109],"Segways,":[51],"hoverboards,":[52],"bipedal":[54],"robots-often":[55],"have":[56],"limited":[57],"availability,":[59],"restricting":[60],"estimation":[62],"primarily":[63],"to":[64,132],"attitude":[65],"stabilization.":[66],"Since":[67],"the":[68,102,117,137],"tilt":[69],"angle":[70],"cannot":[71],"be":[72],"directly":[73],"measured,":[74],"it":[75],"typically":[77],"estimated":[78],"fusion,":[81],"increasing":[82],"reliance":[83],"inertial":[85],"necessitating":[88],"lightweight,":[90],"self-contained":[91],"perception":[92],"module.":[93],"Prior":[94],"research":[95],"has":[96],"not":[97,113],"incorporated":[98],"accelerometer":[99],"data":[100],"into":[101,136],"LQG":[103,149],"framework":[104],"pendulum-like":[107],"systems,":[108],"jerk":[110],"states":[111],"are":[112],"explicitly":[114],"modeled":[115],"Newton-Euler":[118],"formalism.":[119],"this":[121,125],"paper,":[122],"we":[123],"address":[124],"gap":[126],"by":[127],"leveraging":[128],"local":[129],"differential":[130],"flatness":[131],"incorporate":[133],"higher-order":[134],"dynamics":[135],"system":[138],"model.":[139],"This":[140],"refinement":[141],"enhances":[142],"enabling":[145],"more":[147],"robust":[148],"controller":[150],"that":[151],"predicts":[152],"accelerations":[153],"platforms.":[158]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}