{"id":"https://openalex.org/W2116585448","doi":"https://doi.org/10.1016/s0167-6911(01)00187-6","title":"The Lyapunov\u2013Malkin theorem and stabilization of the unicycle with rider","display_name":"The Lyapunov\u2013Malkin theorem and stabilization of the unicycle with rider","publication_year":2002,"publication_date":"2002-04-01","ids":{"openalex":"https://openalex.org/W2116585448","doi":"https://doi.org/10.1016/s0167-6911(01)00187-6","mag":"2116585448"},"language":"en","primary_location":{"id":"doi:10.1016/s0167-6911(01)00187-6","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0167-6911(01)00187-6","pdf_url":null,"source":{"id":"https://openalex.org/S56603566","display_name":"Systems & Control Letters","issn_l":"0167-6911","issn":["0167-6911","1872-7956"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Systems & Control Letters","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/A5059150715","display_name":"Dmitry V. Zenkov","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dmitry V. Zenkov","raw_affiliation_strings":["Department of Mathematics, University of Michigan, 525 East University Ave., Ann Arbor, MI 48109-91109, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Michigan, 525 East University Ave., Ann Arbor, MI 48109-91109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091262409","display_name":"Anthony M. Bloch","orcid":"https://orcid.org/0000-0003-0235-9765"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony M. Bloch","raw_affiliation_strings":["Department of Mathematics, University of Michigan, 525 East University Ave., Ann Arbor, MI 48109-91109, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Michigan, 525 East University Ave., Ann Arbor, MI 48109-91109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110208781","display_name":"Jerrold E. Marsden","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerrold E. Marsden","raw_affiliation_strings":["Control and Dynamical Systems, California Institute of Technology 107-81, Pasadena, CA 91125, USA","Control and Dynamical Systems, California Institute of Technology, 107-81, Pasadena, CA 91125, USA"],"affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems, California Institute of Technology 107-81, Pasadena, CA 91125, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Control and Dynamical Systems, California Institute of Technology, 107-81, Pasadena, CA 91125, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059150715"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":null,"fwci":2.5478,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.89071008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"45","issue":"4","first_page":"293","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"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/control-theory","display_name":"Control theory (sociology)","score":0.8033850789070129},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7836326360702515},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5522133708000183},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.526416003704071},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4416937232017517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41428226232528687},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.41049134731292725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4081876277923584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33883005380630493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26816698908805847},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.25164178013801575},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18480685353279114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17701461911201477},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15368148684501648},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11857345700263977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11045628786087036}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8033850789070129},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7836326360702515},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5522133708000183},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.526416003704071},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4416937232017517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41428226232528687},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.41049134731292725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4081876277923584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33883005380630493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26816698908805847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25164178013801575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18480685353279114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17701461911201477},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15368148684501648},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11857345700263977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11045628786087036},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/s0167-6911(01)00187-6","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0167-6911(01)00187-6","pdf_url":null,"source":{"id":"https://openalex.org/S56603566","display_name":"Systems & Control Letters","issn_l":"0167-6911","issn":["0167-6911","1872-7956"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Systems & Control Letters","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:20025","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/20025/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1725121844","https://openalex.org/W1966397236","https://openalex.org/W1994175759","https://openalex.org/W2055315817","https://openalex.org/W2091568477","https://openalex.org/W2099761232","https://openalex.org/W2100566479","https://openalex.org/W2124863501","https://openalex.org/W2143769694"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2779381274","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}