{"id":"https://openalex.org/W2111683789","doi":"https://doi.org/10.1109/9.847110","title":"Energy based control of the Pendubot","display_name":"Energy based control of the Pendubot","publication_year":2000,"publication_date":"2000-04-01","ids":{"openalex":"https://openalex.org/W2111683789","doi":"https://doi.org/10.1109/9.847110","mag":"2111683789"},"language":"en","primary_location":{"id":"doi:10.1109/9.847110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/9.847110","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Automatic Control","raw_type":"journal-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":"https://openalex.org/A5075492933","display_name":"Isabelle Fantoni","orcid":"https://orcid.org/0000-0003-3472-3023"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"I. Fantoni","raw_affiliation_strings":["Department Heudiasyc, University of Technology of Compiegne, Compiegne, France","Dept. Heudiasyc, Univ. of Technol. of Compiegne, France"],"affiliations":[{"raw_affiliation_string":"Department Heudiasyc, University of Technology of Compiegne, Compiegne, France","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I102516824"]},{"raw_affiliation_string":"Dept. Heudiasyc, Univ. of Technol. of Compiegne, France","institution_ids":["https://openalex.org/I102516824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004002307","display_name":"Rogelio Lozano","orcid":"https://orcid.org/0000-0002-5730-6313"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Lozano","raw_affiliation_strings":["Department Heudiasyc, University of Technology of Compiegne, Compiegne, France","[Department Heudiasyc, University of Technology of Compiegne, Compiegne, France]"],"affiliations":[{"raw_affiliation_string":"Department Heudiasyc, University of Technology of Compiegne, Compiegne, France","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I102516824"]},{"raw_affiliation_string":"[Department Heudiasyc, University of Technology of Compiegne, Compiegne, France]","institution_ids":["https://openalex.org/I102516824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.W. Spong","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana, IL, USA","[Coordinated Science laboratory, University of Illinois, Urbana-Champaign, Urbana, IL, USA]"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"[Coordinated Science laboratory, University of Illinois, Urbana-Champaign, Urbana, IL, USA]","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075492933"],"corresponding_institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210088387"],"apc_list":null,"apc_paid":null,"fwci":25.9052,"has_fulltext":false,"cited_by_count":481,"citation_normalized_percentile":{"value":0.99710919,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"45","issue":"4","first_page":"725","last_page":"729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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":0.9975000023841858,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8627039194107056},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7894070148468018},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6181188225746155},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5515543818473816},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5438999533653259},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5269518494606018},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49904727935791016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4539286494255066},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4505421221256256},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4476001262664795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38419079780578613},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.17764222621917725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13917821645736694}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8627039194107056},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7894070148468018},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6181188225746155},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5515543818473816},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5438999533653259},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5269518494606018},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49904727935791016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4539286494255066},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4505421221256256},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4476001262664795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38419079780578613},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.17764222621917725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13917821645736694},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":2,"locations":[{"id":"doi:10.1109/9.847110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/9.847110","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.7.430","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.7.430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robot0.ge.uiuc.edu/~spong/Journal_Articles/fantoni_lozano_spong.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W136616458","https://openalex.org/W146878374","https://openalex.org/W205607010","https://openalex.org/W350643511","https://openalex.org/W1496777766","https://openalex.org/W1887006513","https://openalex.org/W2041521369","https://openalex.org/W2127055892","https://openalex.org/W2136310975","https://openalex.org/W2140907765","https://openalex.org/W2152595684","https://openalex.org/W2204278379","https://openalex.org/W2293646003","https://openalex.org/W2298085263","https://openalex.org/W2617398331","https://openalex.org/W2619799148","https://openalex.org/W3207781852","https://openalex.org/W4213207106","https://openalex.org/W6605885226","https://openalex.org/W6611814852","https://openalex.org/W6682491831","https://openalex.org/W6738746344","https://openalex.org/W6802135958"],"related_works":["https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W4313405128","https://openalex.org/W565008099","https://openalex.org/W2132845543","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098","https://openalex.org/W4308244460"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,11,19,40,44],"control":[4,32],"of":[5,43],"an":[6,36],"underactuated":[7],"two-link":[8],"robot":[9],"called":[10],"Pendubot.":[12],"We":[13],"propose":[14],"a":[15],"controller":[16],"for":[17],"swinging":[18],"linkage":[20],"and":[21,39],"raise":[22],"it":[23],"to":[24],"its":[25],"uppermost":[26],"unstable":[27],"equilibrium":[28],"position.":[29],"The":[30],"balancing":[31],"is":[33],"based":[34],"on":[35],"energy":[37],"approach":[38],"passivity":[41],"properties":[42],"system.":[45]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":20},{"year":2015,"cited_by_count":19},{"year":2014,"cited_by_count":30},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":24}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}