{"id":"https://openalex.org/W2025523250","doi":"https://doi.org/10.1109/cdc.2011.6160361","title":"Impulsive control of mechanical motion systems with uncertain friction","display_name":"Impulsive control of mechanical motion systems with uncertain friction","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2025523250","doi":"https://doi.org/10.1109/cdc.2011.6160361","mag":"2025523250"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5004028181","display_name":"Nathan van de Wouw","orcid":"https://orcid.org/0000-0002-6745-9137"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"N. van de Wouw","raw_affiliation_strings":["Department of Mechanical Engineering, Eindhovan University of Technology, Eindhoven, Netherlands","Dept. of Mechanical Eng., Eindhoven University of Technology, P.O. Box 513, 5600 MB, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Eindhovan University of Technology, Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Dept. of Mechanical Eng., Eindhoven University of Technology, P.O. Box 513, 5600 MB, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060899376","display_name":"Remco I. Leine","orcid":"https://orcid.org/0000-0001-9859-7519"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R.I. Leine","raw_affiliation_strings":["Institute of Mechanical Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland","Institute of Mechanical Systems, Department of Mechanical and Process Engineering, ETH Zurich, CH-8092, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Institute of Mechanical Systems, Department of Mechanical and Process Engineering, ETH Zurich, CH-8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7468,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81785681,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4176","last_page":"4182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"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":0.996399998664856,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/control-theory","display_name":"Control theory (sociology)","score":0.8029395341873169},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7808334231376648},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5879876613616943},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5818261504173279},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5555195212364197},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5302422046661377},{"id":"https://openalex.org/keywords/set-point","display_name":"Set point","score":0.4796921908855438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46546152234077454},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45138105750083923},{"id":"https://openalex.org/keywords/collision-response","display_name":"Collision response","score":0.44231677055358887},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43417099118232727},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.42040276527404785},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39191198348999023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35111767053604126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.327267587184906},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31941571831703186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27141106128692627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1798001229763031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16410475969314575}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8029395341873169},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7808334231376648},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5879876613616943},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5818261504173279},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5555195212364197},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5302422046661377},{"id":"https://openalex.org/C2993627981","wikidata":"https://www.wikidata.org/wiki/Q7456295","display_name":"Set point","level":2,"score":0.4796921908855438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46546152234077454},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45138105750083923},{"id":"https://openalex.org/C177299277","wikidata":"https://www.wikidata.org/wiki/Q5147505","display_name":"Collision response","level":4,"score":0.44231677055358887},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43417099118232727},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.42040276527404785},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39191198348999023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35111767053604126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.327267587184906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31941571831703186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27141106128692627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1798001229763031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16410475969314575},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2011.6160361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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":28,"referenced_works":["https://openalex.org/W161478465","https://openalex.org/W596080164","https://openalex.org/W644555752","https://openalex.org/W1589352600","https://openalex.org/W1817848253","https://openalex.org/W1967856584","https://openalex.org/W1977905511","https://openalex.org/W2009262551","https://openalex.org/W2009453130","https://openalex.org/W2009600600","https://openalex.org/W2041612567","https://openalex.org/W2059546105","https://openalex.org/W2073556976","https://openalex.org/W2073918440","https://openalex.org/W2091881639","https://openalex.org/W2101108837","https://openalex.org/W2115934522","https://openalex.org/W2127304348","https://openalex.org/W2135089133","https://openalex.org/W2140186628","https://openalex.org/W2143528306","https://openalex.org/W2159849460","https://openalex.org/W2166050568","https://openalex.org/W2166271005","https://openalex.org/W2169158757","https://openalex.org/W2593063709","https://openalex.org/W2644516918","https://openalex.org/W4235919868"],"related_works":["https://openalex.org/W3022440708","https://openalex.org/W2145922707","https://openalex.org/W1537688115","https://openalex.org/W1524683553","https://openalex.org/W1974365778","https://openalex.org/W2810725684","https://openalex.org/W2137525473","https://openalex.org/W2089554256","https://openalex.org/W2080817710","https://openalex.org/W2372168007"],"abstract_inverted_index":{"In":[0],"this":[1,60],"paper,":[2],"we":[3],"consider":[4],"the":[5,26,41,64,68,76],"robust":[6],"set-point":[7,42,69],"stabilisation":[8],"problem":[9],"for":[10,43],"motion":[11],"systems":[12],"subject":[13],"to":[14,67],"friction.":[15],"Robustness":[16],"aspects":[17],"are":[18,29,87],"particularly":[19],"relevant":[20],"in":[21,25],"practice,":[22],"where":[23],"uncertainties":[24],"friction":[27,51],"model":[28],"unavoidable.":[30],"We":[31],"propose":[32],"an":[33,92],"impulsive":[34],"feedback":[35],"control":[36,61],"design":[37],"that":[38,59],"robustly":[39],"stabilises":[40],"a":[44,72,81],"class":[45],"of":[46,75,91],"position-,":[47],"velocity-":[48],"and":[49],"time-dependent":[50],"laws":[52],"with":[53],"uncertainty.":[54],"Moreover,":[55],"it":[56],"is":[57,71],"shown":[58],"strategy":[62],"guarantees":[63],"finite-time":[65],"convergence":[66],"which":[70],"favourable":[73],"characteristic":[74],"resulting":[77],"closed":[78],"loop":[79],"from":[80],"transient":[82],"performance":[83],"perspective.":[84],"The":[85],"results":[86],"illustrated":[88],"by":[89],"means":[90],"example.":[93]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
