{"id":"https://openalex.org/W2131320701","doi":"https://doi.org/10.1109/cdc.2008.4739392","title":"Robust hybrid source-seeking algorithms based on directional derivatives and their approximations","display_name":"Robust hybrid source-seeking algorithms based on directional derivatives and their approximations","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2131320701","doi":"https://doi.org/10.1109/cdc.2008.4739392","mag":"2131320701"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2008.4739392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"conference-paper","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/A5043506578","display_name":"Christopher G. Mayhew","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher G. Mayhew","raw_affiliation_strings":["Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028224738","display_name":"Ricardo G. Sanfelice","orcid":"https://orcid.org/0000-0002-6671-5362"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ricardo G. Sanfelice","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, MA, USA","Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002737786","display_name":"Andrew R. Teel","orcid":"https://orcid.org/0000-0002-6508-0879"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew R. Teel","raw_affiliation_strings":["Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8385,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.97212072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1735","last_page":"1740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","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/T14083","display_name":"Extremum Seeking Control Systems","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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9934999942779541,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9782000184059143,"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/position","display_name":"Position (finance)","score":0.690622866153717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5643725991249084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.561143159866333},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.5213310122489929},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5125613212585449},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5074712634086609},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.504804253578186},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4865952730178833},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.46365177631378174},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4331778883934021},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4089861214160919},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3662623167037964},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31165188550949097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24094095826148987},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2396552562713623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1365615725517273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10597497224807739}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.690622866153717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5643725991249084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.561143159866333},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.5213310122489929},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5125613212585449},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5074712634086609},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.504804253578186},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4865952730178833},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.46365177631378174},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4331778883934021},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4089861214160919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3662623167037964},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31165188550949097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24094095826148987},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2396552562713623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1365615725517273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10597497224807739},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2008.4739392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1527943502","https://openalex.org/W1584729564","https://openalex.org/W1845560202","https://openalex.org/W1987843995","https://openalex.org/W1989230227","https://openalex.org/W2011890031","https://openalex.org/W2038567146","https://openalex.org/W2068864491","https://openalex.org/W2112248103","https://openalex.org/W2137328938","https://openalex.org/W2141133853","https://openalex.org/W2141259972","https://openalex.org/W2152521798","https://openalex.org/W2174736618","https://openalex.org/W2313274380","https://openalex.org/W4244348371","https://openalex.org/W4249513058"],"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/W1967307436","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"A":[0],"family":[1,56,86],"of":[2,17,52,57,67,76],"hybrid":[3,33],"control":[4,34],"algorithms":[5],"is":[6,59,87],"developed":[7,79,88],"that":[8,36],"steer":[9],"a":[10,18,31,47,50,63,77],"nonholonomic":[11],"autonomous":[12],"vehicle":[13,41,69],"to":[14,54],"the":[15,23,40,44,55,68,72],"source":[16],"scalar":[19],"signal":[20],"present":[21],"in":[22,62],"environment.":[24],"In":[25],"an":[26],"idealized":[27],"setting,":[28],"we":[29],"develop":[30],"general":[32],"scheme":[35],"globally":[37],"asymptotically":[38],"stabilizes":[39],"position":[42,70],"about":[43,71],"source.":[45,73],"Pursuing":[46],"practical":[48,65],"implementation,":[49],"series":[51],"perturbations":[53],"controllers":[58],"introduced,":[60],"resulting":[61],"semi-global":[64],"stability":[66],"An":[74],"example":[75],"recently":[78],"conjugate":[80],"direction-based":[81],"controller":[82],"fitting":[83],"into":[84],"this":[85],"and":[89,93],"demonstrated":[90],"by":[91],"simulation":[92],"experiment.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
