{"id":"https://openalex.org/W1586548833","doi":"https://doi.org/10.1109/cdc.2002.1184519","title":"Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form","display_name":"Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W1586548833","doi":"https://doi.org/10.1109/cdc.2002.1184519","mag":"1586548833"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","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/A5026791409","display_name":"Mazen Alamir","orcid":"https://orcid.org/0000-0002-3668-5721"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210146665","display_name":"Laboratoire Rh\u00e9ologie et Proc\u00e9d\u00e9s","ror":"https://ror.org/044ggyg50","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210146665","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Alamir","raw_affiliation_strings":["Laboratoire d'Automatique de Grenoble. UMR CNRS 5528, Domaine Universitaire, Saint Martin d'Heres, France","Lab. d'Automatique de Grenoble, Domaine Univ., Saint Martin d'Heres, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique de Grenoble. UMR CNRS 5528, Domaine Universitaire, Saint Martin d'Heres, France","institution_ids":["https://openalex.org/I4210146665","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. d'Automatique de Grenoble, Domaine Univ., Saint Martin d'Heres, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105455082","display_name":"Nicolas Marchand","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Marchand","raw_affiliation_strings":["Laboratoire des Signaux et Systems (L2S), Plateau Moulon, Gif-sur-Yvette, France","Laboratoire des Signaux et Syst\u00e8mes (L2S), Ma\u00eetre de Conf\u00e9rence, Gif sur Yvette, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systems (L2S), Plateau Moulon, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210097418"]},{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S), Ma\u00eetre de Conf\u00e9rence, Gif sur Yvette, France","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05874262,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"356","last_page":"361"},"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":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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9894000291824341,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8007599115371704},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7717309594154358},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6331779360771179},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5794949531555176},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.513379693031311},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4783862829208374},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43680340051651},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43372029066085815},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.42956608533859253},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4287380874156952},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.26724880933761597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23743760585784912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1884518563747406},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17283546924591064}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8007599115371704},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7717309594154358},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6331779360771179},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5794949531555176},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.513379693031311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4783862829208374},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43680340051651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43372029066085815},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.42956608533859253},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4287380874156952},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26724880933761597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23743760585784912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1884518563747406},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17283546924591064},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1184519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1887006513","https://openalex.org/W1971044547","https://openalex.org/W1983258556","https://openalex.org/W2014973338","https://openalex.org/W2016624438","https://openalex.org/W2028044548","https://openalex.org/W2031750349","https://openalex.org/W2033699235","https://openalex.org/W2053309223","https://openalex.org/W2078162893","https://openalex.org/W2099761232","https://openalex.org/W2100165947","https://openalex.org/W2102620728","https://openalex.org/W2104929776","https://openalex.org/W2117885432","https://openalex.org/W2120181385","https://openalex.org/W2127988032","https://openalex.org/W2133361850","https://openalex.org/W2134317353","https://openalex.org/W2150531296","https://openalex.org/W2158564182","https://openalex.org/W2173320031","https://openalex.org/W3160954918","https://openalex.org/W6682146955"],"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/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W2889285810","https://openalex.org/W2086511948","https://openalex.org/W2282793296"],"abstract_inverted_index":{"A":[0],"discontinuous":[1],"state-feedback":[2],"law":[3,17],"is":[4,18,29,45],"proposed":[5,66],"for":[6],"the":[7,25,58,61,65],"stabilization":[8],"of":[9,64],"nonholonomic":[10],"systems":[11],"in":[12,23,47],"power":[13],"form.":[14],"The":[15],"feedback":[16],"based":[19],"on":[20],"receding-horizon":[21],"strategy":[22],"which":[24],"open-loop":[26],"optimization":[27],"problem":[28],"a":[30,48],"minimum-time":[31],"steering":[32],"one.":[33],"Sub-optimal":[34],"formulations":[35],"are":[36,54],"explicitly":[37],"used":[38],"to":[39,56],"meet":[40],"real-time":[41,62],"implementability":[42,63],"requirements.":[43],"Stability":[44],"established":[46],"sampled-data":[49],"context":[50],"and":[51,60],"illustrative":[52],"simulations":[53],"given":[55],"show":[57],"effectiveness":[59],"scheme.":[67]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}