{"id":"https://openalex.org/W2491843947","doi":"https://doi.org/10.1109/acc.2016.7524883","title":"MPC on manifolds with an application to SE(3)","display_name":"MPC on manifolds with an application to SE(3)","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2491843947","doi":"https://doi.org/10.1109/acc.2016.7524883","mag":"2491843947"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7524883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7524883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","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/A5066973655","display_name":"Uro\u0161 Kalabi\u0107","orcid":"https://orcid.org/0000-0002-0310-349X"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]},{"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":"Uros Kalabic","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","Mitsubishi Electric Research Laboratories, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101763473","display_name":"Rohit Gupta","orcid":"https://orcid.org/0000-0002-5334-665X"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]},{"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":"Rohit Gupta","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","Institute of Mathematics and its Applications, University of Minnesota, Minneapolis, MN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Institute of Mathematics and its Applications, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"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 Bloch","raw_affiliation_strings":["Department of Mathematics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078022728","display_name":"Ilya Kolmanovsky","orcid":"https://orcid.org/0000-0002-7225-4160"},"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":"Ilya Kolmanovsky","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066973655"],"corresponding_institution_ids":["https://openalex.org/I27837315","https://openalex.org/I4210159266"],"apc_list":null,"apc_paid":null,"fwci":1.6068,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.84617241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9930999875068665,"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/quadcopter","display_name":"Quadcopter","score":0.7519270181655884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7248672246932983},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6886561512947083},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6876189112663269},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6101410984992981},{"id":"https://openalex.org/keywords/invariant-manifold","display_name":"Invariant manifold","score":0.5715134739875793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5034834742546082},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43593835830688477},{"id":"https://openalex.org/keywords/nonlinear-dynamical-systems","display_name":"Nonlinear dynamical systems","score":0.432096391916275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36478620767593384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3082636594772339},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1793726682662964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13121026754379272}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7519270181655884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7248672246932983},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6886561512947083},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6876189112663269},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6101410984992981},{"id":"https://openalex.org/C20483540","wikidata":"https://www.wikidata.org/wiki/Q4200516","display_name":"Invariant manifold","level":2,"score":0.5715134739875793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5034834742546082},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43593835830688477},{"id":"https://openalex.org/C2983030100","wikidata":"https://www.wikidata.org/wiki/Q638328","display_name":"Nonlinear dynamical systems","level":3,"score":0.432096391916275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36478620767593384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3082636594772339},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1793726682662964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13121026754379272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2016.7524883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7524883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1538183267","https://openalex.org/W1557324374","https://openalex.org/W1991601378","https://openalex.org/W2013192764","https://openalex.org/W2031013541","https://openalex.org/W2034588608","https://openalex.org/W2046287268","https://openalex.org/W2087604833","https://openalex.org/W2158958880","https://openalex.org/W2165065915","https://openalex.org/W2203129436","https://openalex.org/W4237844826","https://openalex.org/W4247266993","https://openalex.org/W6683508651"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2478856989","https://openalex.org/W4283267540","https://openalex.org/W4385336119","https://openalex.org/W2804967187","https://openalex.org/W2950801353","https://openalex.org/W2061652900","https://openalex.org/W3100487670","https://openalex.org/W2329586347"],"abstract_inverted_index":{"The":[0,44],"paper":[1,85,114],"considers":[2,86],"formulations":[3],"of":[4,20,46,52,79,89,119],"constrained":[5],"model":[6],"predictive":[7],"control":[8],"(MPC)":[9],"problems":[10],"for":[11],"systems":[12,98],"with":[13,92],"dynamics":[14,93],"defined":[15],"on":[16,27,38,82,95],"smooth":[17],"manifolds.":[18],"Generalizations":[19],"conventional":[21],"nonlinear":[22,80,121],"MPC":[23,81,122],"stabilization":[24,117],"techniques":[25],"based":[26,37],"the":[28,42,47,50,77,84,111,113,120],"terminal":[29,32],"set":[30],"and":[31,106],"penalty":[33],"approaches":[34],"are":[35],"presented":[36],"recent":[39],"work":[40],"by":[41],"authors.":[43],"significance":[45],"results":[48],"includes":[49],"possibility":[51],"systematically":[53],"generating":[54],"globally":[55,68],"stabilizing,":[56,69],"discontinuous,":[57],"time-invariant":[58,70],"feedback":[59,123],"laws":[60],"in":[61,100],"situations":[62],"when":[63],"smooth,":[64],"or":[65],"even":[66],"continuous,":[67],"stabilizers":[71],"do":[72],"not":[73],"exist.":[74],"To":[75],"illustrate":[76],"development":[78],"manifolds,":[83],"an":[87],"example":[88],"a":[90],"system":[91],"evolving":[94],"SE(3).":[96],"Such":[97],"emerge":[99],"many":[101],"applications,":[102],"such":[103],"as":[104],"quadrotor":[105],"quadcopter":[107],"flight":[108],"control.":[109],"In":[110],"example,":[112],"demonstrates":[115],"semi-global":[116],"properties":[118],"law.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}