{"id":"https://openalex.org/W2128697043","doi":"https://doi.org/10.1109/acc.2007.4282944","title":"A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems","display_name":"A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2128697043","doi":"https://doi.org/10.1109/acc.2007.4282944","mag":"2128697043"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2007.4282944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282944","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-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/A5110272170","display_name":"Warren N. White","orcid":null},"institutions":[{"id":"https://openalex.org/I189590672","display_name":"Kansas State University","ror":"https://ror.org/05p1j8758","country_code":"US","type":"education","lineage":["https://openalex.org/I189590672"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Warren N. White","raw_affiliation_strings":["Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA","Kansas State University, Manhattan,"],"affiliations":[{"raw_affiliation_string":"Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA","institution_ids":["https://openalex.org/I189590672"]},{"raw_affiliation_string":"Kansas State University, Manhattan,","institution_ids":["https://openalex.org/I189590672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110682202","display_name":"Mikil Foss","orcid":null},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mikil Foss","raw_affiliation_strings":["Department of Mathematics, University of Nebraska, Lincolnshire, NE, USA","Department of Mathematics at the University of Nebraska, Lincoln NE 68588-0130 USA. e-mail: mfoss@math.unl.edu"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Nebraska, Lincolnshire, NE, USA","institution_ids":["https://openalex.org/I114395901"]},{"raw_affiliation_string":"Department of Mathematics at the University of Nebraska, Lincoln NE 68588-0130 USA. e-mail: mfoss@math.unl.edu","institution_ids":["https://openalex.org/I114395901"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102020846","display_name":"Xin Guo","orcid":"https://orcid.org/0000-0002-9948-9293"},"institutions":[{"id":"https://openalex.org/I189590672","display_name":"Kansas State University","ror":"https://ror.org/05p1j8758","country_code":"US","type":"education","lineage":["https://openalex.org/I189590672"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Guo","raw_affiliation_strings":["Mechanical Engineering, Kansas State University, USA","Mechanical Engineering, Kansas State University; e-mail: xin.guo@gmail.com"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Kansas State University, USA","institution_ids":["https://openalex.org/I189590672"]},{"raw_affiliation_string":"Mechanical Engineering, Kansas State University; e-mail: xin.guo@gmail.com","institution_ids":["https://openalex.org/I189590672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110272170"],"corresponding_institution_ids":["https://openalex.org/I189590672"],"apc_list":null,"apc_paid":null,"fwci":3.949,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93871866,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4817","last_page":"4822"},"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":1.0,"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":1.0,"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":0.9965000152587891,"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":0.9894999861717224,"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/lyapunov-function","display_name":"Lyapunov function","score":0.8402570486068726},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7308346033096313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7250437140464783},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.6935588717460632},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.6229721903800964},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.49600204825401306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48415833711624146},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.4805498719215393},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46525460481643677},{"id":"https://openalex.org/keywords/lyapunov-equation","display_name":"Lyapunov equation","score":0.41066882014274597},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3625633418560028},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32925480604171753},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22972619533538818},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21191170811653137},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18557459115982056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09438452124595642},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08831405639648438},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07967767119407654}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.8402570486068726},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7308346033096313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7250437140464783},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.6935588717460632},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.6229721903800964},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.49600204825401306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48415833711624146},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.4805498719215393},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46525460481643677},{"id":"https://openalex.org/C25854792","wikidata":"https://www.wikidata.org/wiki/Q1028945","display_name":"Lyapunov equation","level":4,"score":0.41066882014274597},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3625633418560028},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32925480604171753},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22972619533538818},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21191170811653137},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18557459115982056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09438452124595642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08831405639648438},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07967767119407654},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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:10.1109/acc.2007.4282944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282944","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.470.2084","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.470.2084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mne.ksu.edu/people/personal/white/pdf-files/control07.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1522926932","https://openalex.org/W1977165430","https://openalex.org/W2069114279","https://openalex.org/W2081727243","https://openalex.org/W2102263452","https://openalex.org/W2125968092","https://openalex.org/W2127198539","https://openalex.org/W2141666025","https://openalex.org/W2169432300","https://openalex.org/W2570723876","https://openalex.org/W2952218911"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W2383986032","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W2534107666","https://openalex.org/W3194517843","https://openalex.org/W2121515234","https://openalex.org/W2059628530","https://openalex.org/W2210722882","https://openalex.org/W1025006035"],"abstract_inverted_index":{"Control":[0],"of":[1,18,24,34,48,60],"underactuated":[2],"systems":[3,38],"is":[4,26,32,53,68],"treated":[5],"from":[6],"a":[7,16],"Lyapunov":[8,50],"direct":[9],"method":[10,13,30,62],"approach.":[11],"The":[12,29,46],"results":[14],"in":[15,42],"set":[17],"three":[19],"matching":[20],"conditions,":[21],"the":[22,49,61,64],"solution":[23],"which":[25],"easily":[27],"accomplished.":[28],"developed":[31],"capable":[33],"treating":[35],"more":[36],"complicated":[37],"than":[39],"that":[40],"reported":[41],"an":[43],"earlier":[44],"publication.":[45],"suitability":[47],"candidate":[51],"function":[52],"demonstrated":[54],"through":[55],"mathematical":[56],"proofs.":[57],"An":[58],"application":[59],"to":[63],"ball":[65],"and":[66],"beam":[67],"presented.":[69]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
