{"id":"https://openalex.org/W2116884672","doi":"https://doi.org/10.1109/cdc.2012.6426535","title":"A landmark-based controller for global asymptotic stabilization on SE(3)","display_name":"A landmark-based controller for global asymptotic stabilization on SE(3)","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2116884672","doi":"https://doi.org/10.1109/cdc.2012.6426535","mag":"2116884672"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6426535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","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/A5074331286","display_name":"Pedro Casau","orcid":"https://orcid.org/0000-0002-4508-1452"},"institutions":[{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Pedro Casau","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, and Institute for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisboa, Portugal","Department of Electrical Engineering and Computer Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, 1049-001, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, and Institute for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, 1049-001, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"]}]},{"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/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ricardo G. Sanfelice","raw_affiliation_strings":["Department of AeroSpace and Mechanical Engineering, University of Arizona, AZ, USA","Department of Aerospace and Mechanical Engineering, University of Arizona, 1130 N. Mountain Ave, 85721, USA"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace and Mechanical Engineering, University of Arizona, AZ, USA","institution_ids":["https://openalex.org/I138006243"]},{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Arizona, 1130 N. Mountain Ave, 85721, USA","institution_ids":["https://openalex.org/I138006243"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000067769","display_name":"Rita Cunha","orcid":"https://orcid.org/0000-0002-8925-1273"},"institutions":[{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rita Cunha","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, and Institute for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisboa, Portugal","Department of Electrical Engineering and Computer Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, 1049-001, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, and Institute for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, 1049-001, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Carlos Silvestre","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macao, China","Department of Electrical and Computer Engineering, Faculty of Science and Technology of the University of Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macao, China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Faculty of Science and Technology of the University of Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074331286"],"corresponding_institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"],"apc_list":null,"apc_paid":null,"fwci":1.6891,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87258471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"54","issue":null,"first_page":"496","last_page":"501"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9984999895095825,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9984999895095825,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"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/landmark","display_name":"Landmark","score":0.8587716817855835},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6953471302986145},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6802316904067993},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.618015468120575},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6156288981437683},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5646684765815735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53061443567276},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5291928052902222},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5176499485969543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4692174196243286},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.43053311109542847},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3574658930301666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2369592785835266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14646956324577332},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10825863480567932},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09678897261619568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0706167221069336}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8587716817855835},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6953471302986145},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6802316904067993},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.618015468120575},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6156288981437683},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5646684765815735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53061443567276},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5291928052902222},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5176499485969543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4692174196243286},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.43053311109542847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3574658930301666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2369592785835266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14646956324577332},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10825863480567932},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09678897261619568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0706167221069336},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2012.6426535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1515493836","https://openalex.org/W1628100432","https://openalex.org/W2022998379","https://openalex.org/W2046287268","https://openalex.org/W2089302086","https://openalex.org/W2099308299","https://openalex.org/W2108998592","https://openalex.org/W2125902469","https://openalex.org/W2127918239","https://openalex.org/W2131393308","https://openalex.org/W2137427741","https://openalex.org/W2163446304","https://openalex.org/W2174324474","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W1978738522","https://openalex.org/W2095028518","https://openalex.org/W2377228964","https://openalex.org/W2059311322","https://openalex.org/W2536963663","https://openalex.org/W2057482994","https://openalex.org/W1989732506","https://openalex.org/W1988317900","https://openalex.org/W2115648193","https://openalex.org/W2382677675"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"address":[4],"the":[5,27,59,70,73,77,81],"problem":[6],"of":[7,55,61,72],"designing":[8],"a":[9,18,22,36,43,53],"landmark-based":[10],"control":[11,45,49,94],"law":[12,50],"that":[13],"robustly":[14],"globally":[15],"asymptotically":[16],"stabilizes":[17],"rigid":[19],"body":[20],"at":[21],"desired":[23],"equilibrium":[24],"point":[25],"on":[26,69],"SE(3)":[28],"manifold.":[29],"Synergistic":[30],"potential":[31],"functions":[32],"are":[33],"combined":[34],"within":[35],"hybrid":[37,44],"systems":[38],"framework":[39],"to":[40,75],"generate":[41],"such":[42],"law.":[46,95],"The":[47],"proposed":[48,82],"is":[51,84],"solely":[52],"function":[54],"vector":[56],"measurements":[57],"characterizing":[58],"position":[60],"some":[62],"given":[63,78],"landmarks.":[64],"We":[65],"provide":[66],"sufficient":[67],"conditions":[68],"geometry":[71],"landmarks":[74],"solve":[76],"problem.":[79],"Finally,":[80],"solution":[83],"simulated":[85],"and":[86],"compared":[87],"with":[88],"an":[89],"almost":[90],"global":[91],"continuous":[92],"feedback":[93]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}