{"id":"https://openalex.org/W2291992886","doi":"https://doi.org/10.1109/cdc.2015.7402101","title":"Continuity and smoothness properties of nonlinear optimization-based feedback controllers","display_name":"Continuity and smoothness properties of nonlinear optimization-based feedback controllers","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291992886","doi":"https://doi.org/10.1109/cdc.2015.7402101","mag":"2291992886"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/5d8e8f2e-1586-4e2d-a99a-651d73f98d6a/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064759122","display_name":"Benjamin Morris","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158408","display_name":"Matrix Research (United States)","ror":"https://ror.org/04mw0p229","country_code":"US","type":"company","lineage":["https://openalex.org/I4210158408"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Benjamin J. Morris","raw_affiliation_strings":["Consultant at Matrix Computing and is an alumnus of the EECS, Systems department of the University of Michigan"],"affiliations":[{"raw_affiliation_string":"Consultant at Matrix Computing and is an alumnus of the EECS, Systems department of the University of Michigan","institution_ids":["https://openalex.org/I4210158408","https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085168927","display_name":"Matthew J. Powell","orcid":"https://orcid.org/0000-0002-3334-4366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthew J. Powell","raw_affiliation_strings":["School of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology, At-Ianta, GA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology, At-Ianta, GA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064759122"],"corresponding_institution_ids":["https://openalex.org/I27837315","https://openalex.org/I4210158408"],"apc_list":null,"apc_paid":null,"fwci":1.7027,"has_fulltext":true,"cited_by_count":59,"citation_normalized_percentile":{"value":0.86716222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"151","last_page":"158"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9991000294685364,"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/smoothness","display_name":"Smoothness","score":0.7414544820785522},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.632835865020752},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6214471459388733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.571736216545105},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3555218577384949},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22948798537254333},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19521459937095642},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16019466519355774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11483994126319885},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09976181387901306},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06768244504928589}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7414544820785522},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.632835865020752},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6214471459388733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571736216545105},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3555218577384949},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22948798537254333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19521459937095642},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16019466519355774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11483994126319885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09976181387901306},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06768244504928589},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2015.7402101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/54750","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/54750","pdf_url":"http://repository.gatech.edu/bitstreams/5d8e8f2e-1586-4e2d-a99a-651d73f98d6a/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"},{"id":"pmh:oai:authors.library.caltech.edu:92787","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":{"id":"pmh:oai:smartech.gatech.edu:1853/54750","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/54750","pdf_url":"http://repository.gatech.edu/bitstreams/5d8e8f2e-1586-4e2d-a99a-651d73f98d6a/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2291992886.pdf","grobid_xml":"https://content.openalex.org/works/W2291992886.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W187917816","https://openalex.org/W1499897531","https://openalex.org/W1504627918","https://openalex.org/W1522222833","https://openalex.org/W1601741115","https://openalex.org/W1939926247","https://openalex.org/W1964946446","https://openalex.org/W1972050403","https://openalex.org/W1978956894","https://openalex.org/W1986164962","https://openalex.org/W1994275787","https://openalex.org/W2004430059","https://openalex.org/W2014746566","https://openalex.org/W2021468336","https://openalex.org/W2033256860","https://openalex.org/W2065846434","https://openalex.org/W2092444611","https://openalex.org/W2131469482","https://openalex.org/W2153190828","https://openalex.org/W2171879251","https://openalex.org/W2218983664","https://openalex.org/W2272086451","https://openalex.org/W3102051120","https://openalex.org/W6694151941","https://openalex.org/W6785466958"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2361092061","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2390279801","https://openalex.org/W4391913857"],"abstract_inverted_index":{"Online":[0],"optimization-based":[1,68],"controllers":[2,53,69],"are":[3,55,97,109],"becoming":[4],"increasingly":[5],"prevalent":[6],"as":[7,57],"a":[8,71,84,127,142],"means":[9],"to":[10,22,25,31,44,101,111,170],"control":[11,28,116],"complex":[12,172],"high-dimensional":[13],"nonlinear":[14,75,94],"systems,":[15,88],"e.g.,":[16],"bipedal":[17],"and":[18,48,70,99],"humanoid":[19],"robots,":[20],"due":[21],"their":[23],"ability":[24],"balance":[26],"multiple":[27],"objectives":[29],"subject":[30],"input":[32],"constraints.":[33],"Motivated":[34],"by":[35,63],"these":[36,67],"applications,":[37],"the":[38,46,113,133,145,155,161],"goal":[39],"of":[40,51,73,115,123,130,135,144,151,164],"this":[41,124,165],"paper":[42,125,166],"is":[43,126],"explore":[45],"continuity":[47,134],"smoothness":[49],"properties":[50],"feedback":[52],"that":[54,104,137],"formulated":[56],"quadratic":[58,107],"programs":[59,108],"(QPs).":[60],"We":[61],"begin":[62],"drawing":[64],"connections":[65],"between":[66],"family":[72],"perturbed":[74,93],"programming":[76,95],"problems":[77,96],"commonly":[78],"studied":[79],"in":[80,154],"operations":[81],"research.":[82],"With":[83],"view":[85],"towards":[86],"robotic":[87,173],"some":[89],"existing":[90],"results":[91],"on":[92,132],"extended":[98],"specialized":[100],"address":[102],"conditions":[103,131,163],"arise":[105],"when":[106,141],"used":[110,140],"enforce":[112],"convergence":[114],"Lyapunov":[117],"functions":[118],"(CLFs).":[119],"The":[120],"main":[121],"result":[122],"novel":[128],"set":[129],"QPs":[136],"can":[138,167],"be":[139,168],"subset":[143],"constraints":[146],"vanishes.":[147],"A":[148],"simulation":[149],"study":[150],"position":[152],"regulation":[153],"compass":[156],"gait":[157],"biped":[158],"demonstrates":[159],"how":[160],"new":[162],"applied":[169],"more":[171],"systems.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}