{"id":"https://openalex.org/W3094058178","doi":"https://doi.org/10.1109/access.2020.3025248","title":"A Scalable Safety Critical Control Framework for Nonlinear Systems","display_name":"A Scalable Safety Critical Control Framework for Nonlinear Systems","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3094058178","doi":"https://doi.org/10.1109/access.2020.3025248","mag":"3094058178"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3025248","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3025248","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09199824.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09199824.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073259853","display_name":"Thomas Gurriet","orcid":"https://orcid.org/0000-0002-5240-3720"},"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":"Thomas Gurriet","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5240-3720","affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055293025","display_name":"Mark Mote","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Mote","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005041153","display_name":"Andrew Singletary","orcid":"https://orcid.org/0000-0001-6635-4256"},"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":"Andrew Singletary","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6635-4256","affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084385053","display_name":"Petter Nilsson","orcid":"https://orcid.org/0000-0001-8748-6936"},"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":"Petter Nilsson","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8748-6936","affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041459160","display_name":"\u00c9ric F\u00e9ron","orcid":"https://orcid.org/0000-0001-7717-2159"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Eric Feron","raw_affiliation_strings":["King Abdullah University of Science and Technology, Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology, Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"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":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.7257,"has_fulltext":true,"cited_by_count":64,"citation_normalized_percentile":{"value":0.9089503,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"187249","last_page":"187275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9937000274658203,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9487000107765198,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backup","display_name":"Backup","score":0.7747238874435425},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7185125946998596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7156804203987122},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6056265830993652},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.503123939037323},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47054535150527954},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.4425590932369232},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.43862128257751465},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4266355633735657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35436806082725525},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33298131823539734},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3318670392036438},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3301147222518921},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14924007654190063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1289038360118866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11704939603805542},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10712072253227234}],"concepts":[{"id":"https://openalex.org/C2780945871","wikidata":"https://www.wikidata.org/wiki/Q194274","display_name":"Backup","level":2,"score":0.7747238874435425},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7185125946998596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7156804203987122},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6056265830993652},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.503123939037323},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47054535150527954},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.4425590932369232},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43862128257751465},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4266355633735657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35436806082725525},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33298131823539734},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3318670392036438},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3301147222518921},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14924007654190063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1289038360118866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11704939603805542},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10712072253227234},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3025248","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3025248","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09199824.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:105555","is_oa":true,"landing_page_url":"https://authors.library.caltech.edu/105555/","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:5cd11f0ddc8b4f6a9ebf14c88d4d727e","is_oa":true,"landing_page_url":"https://doaj.org/article/5cd11f0ddc8b4f6a9ebf14c88d4d727e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 187249-187275 (2020)","raw_type":"article"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/667891","is_oa":true,"landing_page_url":"http://hdl.handle.net/10754/667891","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3025248","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3025248","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09199824.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G4112970452","display_name":"CPS: Synergy: Collaborative Research: Semantics of Optimization for Real Time Intelligent Embedded Systems (SORTIES)","funder_award_id":"1446758","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4897027458","display_name":null,"funder_award_id":"DGE-1745301","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6326597354","display_name":"CPS: TTP Option: Synergy: Safe and Secure Open-Access Multi-Robot Systems","funder_award_id":"1544332","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6887166675","display_name":"Graduate Research Fellowship Program (GRFP)","funder_award_id":"1745301","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G755475597","display_name":"NRI: Collaborative Research: Unified Feedback Control and Mechanical Design for Robotic, Prosthetic, and Exoskeleton Locomotion","funder_award_id":"1724464","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8031144497","display_name":"CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Synthesis for Highly Dynamic Systems","funder_award_id":"1724457","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3094058178.pdf","grobid_xml":"https://content.openalex.org/works/W3094058178.grobid-xml"},"referenced_works_count":58,"referenced_works":["https://openalex.org/W201697872","https://openalex.org/W1504362584","https://openalex.org/W1602410440","https://openalex.org/W1880805667","https://openalex.org/W1965852706","https://openalex.org/W1972194218","https://openalex.org/W1987605281","https://openalex.org/W1990210124","https://openalex.org/W2009493696","https://openalex.org/W2048726136","https://openalex.org/W2054775725","https://openalex.org/W2102488278","https://openalex.org/W2104332709","https://openalex.org/W2116364955","https://openalex.org/W2130527887","https://openalex.org/W2133844819","https://openalex.org/W2142114107","https://openalex.org/W2142493442","https://openalex.org/W2143717973","https://openalex.org/W2147741970","https://openalex.org/W2154444440","https://openalex.org/W2154538363","https://openalex.org/W2154867660","https://openalex.org/W2162767308","https://openalex.org/W2171505650","https://openalex.org/W2177274602","https://openalex.org/W2234962923","https://openalex.org/W2413990562","https://openalex.org/W2464364615","https://openalex.org/W2525042068","https://openalex.org/W2560504659","https://openalex.org/W2573499444","https://openalex.org/W2587415290","https://openalex.org/W2601603234","https://openalex.org/W2604724024","https://openalex.org/W2608726595","https://openalex.org/W2739434881","https://openalex.org/W2769646558","https://openalex.org/W2794847559","https://openalex.org/W2798791976","https://openalex.org/W2889938945","https://openalex.org/W2906487027","https://openalex.org/W2914264703","https://openalex.org/W2963148914","https://openalex.org/W2963190023","https://openalex.org/W2963212932","https://openalex.org/W2990285263","https://openalex.org/W3004413882","https://openalex.org/W3014865320","https://openalex.org/W3098925401","https://openalex.org/W3100734416","https://openalex.org/W4211003818","https://openalex.org/W4234910518","https://openalex.org/W4241586728","https://openalex.org/W6636177105","https://openalex.org/W6731968866","https://openalex.org/W6745805511","https://openalex.org/W6749880370"],"related_works":["https://openalex.org/W2955195711","https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W17155033","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2164760767"],"abstract_inverted_index":{"There":[0],"are":[1,226,266],"two":[2],"main":[3],"approaches":[4,83,120],"to":[5,43,47,121,152,171,174,191],"safety-critical":[6],"control.":[7],"The":[8,28,205],"first":[9,23,100,162],"one":[10,101,168],"relies":[11,39],"on":[12,40,76,270],"computation":[13],"of":[14,25,35,51,118,127,155,164,180,207,212,237,251,259],"control":[15,37,68,80,142],"invariant":[16],"sets":[17],"and":[18,38,79,102,124,202,219,241,263,268,285],"is":[19,59,148,216],"presented":[20,159],"in":[21,149,160],"the":[22,33,41,49,55,67,77,99,106,116,146,156,161,177,181,194,199,209,213,232,235,238,244],"part":[24,163],"this":[26,165,188],"work.":[27,166],"second":[29,56],"approach":[30,112],"draws":[31,114],"from":[32,115],"topic":[34],"optimal":[36],"ability":[42],"realize":[44],"Model-Predictive-Controllers":[45],"online":[46],"guarantee":[48],"safety":[50,58,129,224,246],"a":[52,62,140,184,253,275,283,286],"system.":[53],"In":[54,134],"approach,":[57],"ensured":[60],"at":[61],"planning":[63],"stage":[64],"by":[65],"solving":[66],"problem":[69],"subject":[70],"for":[71,98,105,130,197],"some":[72,154],"explicitly":[73],"defined":[74],"constraints":[75],"state":[78],"input.":[81],"Both":[82],"have":[84],"distinct":[85],"advantages":[86,117],"but":[87,221],"also":[88,217],"major":[89],"drawbacks":[90],"that":[91,113,138,144],"hinder":[92],"their":[93],"practical":[94,223],"effectiveness,":[95],"namely":[96],"scalability":[97],"computational":[103,264],"complexity":[104,265],"second.":[107],"We":[108,229],"therefore":[109],"present":[110],"an":[111,280],"both":[119],"deliver":[122],"efficient":[123],"scalable":[125],"methods":[126,250],"ensuring":[128],"nonlinear":[131],"dynamical":[132],"systems.":[133],"particular,":[135],"we":[136],"show":[137],"identifying":[139],"backup":[141,189,214,239],"law":[143,190,215,240],"stabilizes":[145],"system":[147,182],"fact":[150],"sufficient":[151],"exploit":[153],"set-invariance":[157],"conditions":[158],"Indeed,":[167],"only":[169],"needs":[170],"be":[172],"able":[173],"numerically":[175],"integrate":[176],"closed-loop":[178],"dynamics":[179],"over":[183],"finite":[185],"horizon":[186],"under":[187],"compute":[192],"all":[193],"information":[195],"necessary":[196],"evaluating":[198],"regulation":[200],"map":[201],"enforcing":[203],"safety.":[204],"effect":[206],"relaxing":[208],"stabilization":[210],"requirements":[211],"studied,":[218],"weaker":[220],"more":[222],"guarantees":[225],"brought":[227],"forward.":[228],"then":[230],"explore":[231],"relationship":[233],"between":[234,261],"optimality":[236],"how":[242],"conservative":[243],"resulting":[245],"filter":[247],"is.":[248],"Finally,":[249],"selecting":[252],"safe":[254],"input":[255],"with":[256],"varying":[257],"levels":[258],"trade-off":[260],"conservatism":[262],"proposed":[267],"illustrated":[269],"multiple":[271],"robotic":[272],"systems,":[273],"namely:":[274],"two-wheeled":[276],"inverted":[277],"pendulum":[278],"(Segway),":[279],"industrial":[281],"manipulator,":[282],"quadrotor,":[284],"lower":[287],"body":[288],"exoskeleton.":[289]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":11}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
