{"id":"https://openalex.org/W1604258215","doi":"https://doi.org/10.1109/cdc.2005.1583373","title":"Control of underactuated mechanical systems by the transverse function approach","display_name":"Control of underactuated mechanical systems by the transverse function approach","publication_year":2006,"publication_date":"2006-10-04","ids":{"openalex":"https://openalex.org/W1604258215","doi":"https://doi.org/10.1109/cdc.2005.1583373","mag":"1604258215"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1583373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00070482","any_repository_has_fulltext":true},"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, 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France. E-mail address: Pascal.Morin@inria.fr"],"affiliations":[{"raw_affiliation_string":"INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France. E-mail address: Pascal.Morin@inria.fr","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","Instrumentation, control and architecture of advanced robots"],"affiliations":[{"raw_affiliation_string":"INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Instrumentation, control and architecture of advanced robots","institution_ids":[]}]}],"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":5.5023,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94806188,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7508","last_page":"7513"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9970999956130981,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9957000017166138,"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/underactuation","display_name":"Underactuation","score":0.8904137015342712},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7921828627586365},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7582943439483643},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7001038789749146},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.6577402353286743},{"id":"https://openalex.org/keywords/transverse-plane","display_name":"Transverse plane","score":0.549731969833374},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5247398018836975},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.4983634948730469},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.47760912775993347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4286016821861267},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.41207030415534973},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3880259096622467},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3508511185646057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2795405089855194},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2210196852684021},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15307468175888062},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12659099698066711},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10178232192993164}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8904137015342712},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7921828627586365},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7582943439483643},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7001038789749146},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.6577402353286743},{"id":"https://openalex.org/C154954056","wikidata":"https://www.wikidata.org/wiki/Q1604164","display_name":"Transverse plane","level":2,"score":0.549731969833374},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5247398018836975},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.4983634948730469},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.47760912775993347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4286016821861267},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.41207030415534973},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3880259096622467},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3508511185646057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2795405089855194},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2210196852684021},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15307468175888062},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12659099698066711},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10178232192993164},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2005.1583373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:inria-00070482v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00070482","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"[Research Report] RR-5525, INRIA. 2005, pp.18","raw_type":"Reports"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00070482v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00070482","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"[Research Report] RR-5525, INRIA. 2005, pp.18","raw_type":"Reports"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W179828086","https://openalex.org/W1522754958","https://openalex.org/W1971044547","https://openalex.org/W1985578018","https://openalex.org/W1993039238","https://openalex.org/W2031750349","https://openalex.org/W2068830756","https://openalex.org/W2091946787","https://openalex.org/W2095178535","https://openalex.org/W2120851686","https://openalex.org/W2122513851","https://openalex.org/W2126607016","https://openalex.org/W2127966006","https://openalex.org/W2129582036","https://openalex.org/W2134557472","https://openalex.org/W2146826877","https://openalex.org/W2159193731","https://openalex.org/W2164259133","https://openalex.org/W2165536949","https://openalex.org/W2168912020","https://openalex.org/W2179747947","https://openalex.org/W2287881741","https://openalex.org/W2542002727","https://openalex.org/W2649525221","https://openalex.org/W6631319553","https://openalex.org/W6642962755","https://openalex.org/W6739439827"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2416484876","https://openalex.org/W2799588385","https://openalex.org/W2359251603","https://openalex.org/W1983677587","https://openalex.org/W108743504","https://openalex.org/W2341482816","https://openalex.org/W2163780576","https://openalex.org/W1555641514"],"abstract_inverted_index":{"An":[0],"approach":[1,50],"for":[2,56],"the":[3,21,40,43,47,54,57,81],"control":[4,22,58,67],"of":[5,8,39,59,64],"a":[6,72],"class":[7],"underactuated":[9,25],"mechanical":[10,62],"systems":[11,17],"on":[12,46],"Lie":[13],"groups,":[14],"including":[15],"many":[16],"previously":[18],"studied":[19],"in":[20,71,80],"literature,":[23],"like":[24],"planar":[26],"manipulators":[27],"and":[28],"rigid":[29],"bodies":[30],"(spacecrafts,":[31],"hovercrafts,":[32],"etc),":[33],"is":[34,42],"proposed.":[35],"The":[36],"main":[37],"outcome":[38],"paper":[41],"derivation,":[44],"based":[45],"transverse":[48],"function":[49],"initially":[51],"proposed":[52],"by":[53],"authors":[55],"non-holonomic":[60],"(driftless)":[61],"systems,":[63],"smooth":[65],"feedback":[66],"laws":[68],"which":[69],"stabilize,":[70],"practical":[73],"sense,":[74],"any":[75],"(possibly":[76],"non-admissible)":[77],"reference":[78],"trajectory":[79],"configuration":[82],"space.":[83]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
