{"id":"https://openalex.org/W2104790567","doi":"https://doi.org/10.1109/cdc.2002.1185042","title":"Practical stabilization of driftless systems on Lie groups","display_name":"Practical stabilization of driftless systems on Lie groups","publication_year":2004,"publication_date":"2004-01-23","ids":{"openalex":"https://openalex.org/W2104790567","doi":"https://doi.org/10.1109/cdc.2002.1185042","mag":"2104790567"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1185042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1185042","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/A5036552594","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-3360-8269"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Morin","raw_affiliation_strings":["INRIA, Sophia-Antipolis, France","INRIA, France"],"affiliations":[{"raw_affiliation_string":"INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013665591","display_name":"Claude Samson","orcid":"https://orcid.org/0000-0002-3769-6174"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Samson","raw_affiliation_strings":["INRIA, Sophia-Antipolis, France","INRIA, France"],"affiliations":[{"raw_affiliation_string":"INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036552594"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":6.0847,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.95467428,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"4272","last_page":"4277"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T13080","display_name":"Advanced Differential Geometry Research","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12396","display_name":"Advanced Differential Equations and Dynamical Systems","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2608","display_name":"Geometry and Topology"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.8458816409111023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7159560918807983},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.6873294115066528},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6181210875511169},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5755488872528076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4977850914001465},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4782513678073883},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.43512478470802307},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.4350987672805786},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.43472376465797424},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43267545104026794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3686276376247406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3472555875778198},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.29624393582344055},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.2037678360939026},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16983801126480103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15751385688781738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1294453740119934},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09146693348884583}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8458816409111023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7159560918807983},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.6873294115066528},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6181210875511169},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5755488872528076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4977850914001465},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4782513678073883},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.43512478470802307},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.4350987672805786},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.43472376465797424},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43267545104026794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3686276376247406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3472555875778198},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.29624393582344055},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.2037678360939026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16983801126480103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15751385688781738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1294453740119934},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09146693348884583},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1185042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1185042","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W91466345","https://openalex.org/W1519687877","https://openalex.org/W1599478774","https://openalex.org/W1971044547","https://openalex.org/W1975897393","https://openalex.org/W1976284538","https://openalex.org/W1983894121","https://openalex.org/W1991378199","https://openalex.org/W2024227082","https://openalex.org/W2052871783","https://openalex.org/W2104790567","https://openalex.org/W2133927781","https://openalex.org/W2143810732","https://openalex.org/W2175643442","https://openalex.org/W2260116947","https://openalex.org/W6603706287","https://openalex.org/W6642962755","https://openalex.org/W6675610737"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2561315646","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W1496421768"],"abstract_inverted_index":{"A":[0],"general":[1],"control":[2,54,78],"design":[3],"approach":[4,19,61],"for":[5,65],"the":[6,23,28,35,41,53,57,77],"stabilization":[7,43],"of":[8,25,30,44,52,76],"controllable":[9,68],"driftless":[10,69],"nonlinear":[11],"systems":[12],"on":[13,22],"Lie":[14],"groups":[15],"is":[16,20,32,40],"presented.":[17],"The":[18,60],"based":[21],"concept":[24],"transverse":[26],"functions,":[27],"existence":[29],"which":[31],"equivalent":[33],"to":[34],"system's":[36],"controllability.":[37],"Its":[38],"outcome":[39],"practical":[42],"any":[45],"trajectory,":[46],"i.e.,":[47],"not":[48],"necessarily":[49],"a":[50],"solution":[51],"system":[55],"in":[56],"state":[58],"space.":[59],"can":[62],"be":[63],"used":[64],"an":[66],"arbitrary":[67],"system,":[70],"via":[71],"homogeneous":[72],"approximation":[73],"and":[74],"lifting":[75],"vector":[79],"fields.":[80]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
