{"id":"https://openalex.org/W2081035361","doi":"https://doi.org/10.1109/acc.2013.6580099","title":"Hierarchical control via approximate simulation and feedback linearization","display_name":"Hierarchical control via approximate simulation and feedback linearization","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2081035361","doi":"https://doi.org/10.1109/acc.2013.6580099","mag":"2081035361"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6580099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","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/A5100723531","display_name":"Jie Fu","orcid":"https://orcid.org/0000-0003-3147-6805"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Fu","raw_affiliation_strings":["Mechanical Engineering Department, University of Delaware, Newark, DE, USA","Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087830444","display_name":"Shridhar K. Shah","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shridhar Shah","raw_affiliation_strings":["Mechanical Engineering Department, University of Delaware, Newark, DE, USA","Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059465693","display_name":"Herbert G. Tanner","orcid":"https://orcid.org/0000-0002-2069-8544"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Herbert G. Tanner","raw_affiliation_strings":["Mechanical Engineering Department, University of Delaware, Newark, DE, USA","Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Delaware, Newark, DE, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":1.872,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.84403834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1816","last_page":"1821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9977999925613403,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9977999925613403,"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/T10142","display_name":"Formal Methods in Verification","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9952999949455261,"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/feedback-linearization","display_name":"Feedback linearization","score":0.6988131999969482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5939499735832214},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.562886655330658},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5404425859451294},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5376739501953125},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5308187007904053},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.342634916305542},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.213557630777359},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15719088912010193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12056207656860352},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11388486623764038}],"concepts":[{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6988131999969482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5939499735832214},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.562886655330658},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5404425859451294},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5376739501953125},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5308187007904053},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.342634916305542},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.213557630777359},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15719088912010193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12056207656860352},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11388486623764038},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2013.6580099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1487112583","https://openalex.org/W1525610771","https://openalex.org/W1574945970","https://openalex.org/W1932145610","https://openalex.org/W1973013779","https://openalex.org/W2011979623","https://openalex.org/W2065894019","https://openalex.org/W2097185793","https://openalex.org/W2118100616","https://openalex.org/W2134790752","https://openalex.org/W2162991084","https://openalex.org/W2565969279","https://openalex.org/W4205940976","https://openalex.org/W6640237385"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W2131265573","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,26,34,38,43,48,52,55,58,66,74,88,94,97,102,120],"problem":[4,67],"of":[5,14,28,57,68,96],"hierarchical":[6,111],"trajectory":[7,69],"planning":[8,70],"and":[9,42,54,71,119],"control":[10,72,89,112],"for":[11,73,116],"a":[12,78,107,125],"class":[13],"nonlinear":[15,44,75,99],"systems":[16],"which":[17],"are":[18,114],"feedback":[19,39,103],"linearizable.":[20],"The":[21,82],"proposed":[22,115],"hierarchy":[23],"builds":[24],"on":[25],"notion":[27],"approximate":[29],"simulation":[30],"relations.":[31],"We":[32],"use":[33],"diffeomorphic":[35],"transformation":[36],"between":[37,51],"linearized":[40,104],"system":[41,60,76,100,105],"system,":[45],"along":[46],"with":[47,124],"associated":[49],"interface":[50],"abstraction":[53,84],"linearization":[56],"concrete":[59,98],"obtained":[61],"via":[62],"feedback,":[63],"to":[64,90,93],"recast":[65],"into":[77],"reduced":[79],"dimensional":[80],"space.":[81],"formal":[83],"framework":[85,118],"then":[86],"enables":[87],"be":[91],"mapped":[92],"space":[95],"using":[101],"as":[106],"\u201cbridge\u201d.":[108],"Two":[109],"different":[110],"architectures":[113],"this":[117],"method":[121],"is":[122],"demonstrated":[123],"quadrotor":[126],"system.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
