{"id":"https://openalex.org/W2783536463","doi":"https://doi.org/10.1109/cdc.2017.8264144","title":"Passive velocity field control with discontinuous desired fields: Non-smooth potential gradient vector field","display_name":"Passive velocity field control with discontinuous desired fields: Non-smooth potential gradient vector field","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783536463","doi":"https://doi.org/10.1109/cdc.2017.8264144","mag":"2783536463"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8264144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","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/A5024890797","display_name":"Yoshiro Fukui","orcid":"https://orcid.org/0000-0002-2704-798X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiro Fukui","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085209922","display_name":"Takahiro Wada","orcid":"https://orcid.org/0000-0002-4518-8903"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Wada","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28366964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"3301","last_page":"3307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9672999978065491,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.9102250337600708},{"id":"https://openalex.org/keywords/hessian-matrix","display_name":"Hessian matrix","score":0.8175722360610962},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6062400937080383},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5995061993598938},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.49215811491012573},{"id":"https://openalex.org/keywords/time-derivative","display_name":"Time derivative","score":0.49192094802856445},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4691036641597748},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.46112507581710815},{"id":"https://openalex.org/keywords/directional-derivative","display_name":"Directional derivative","score":0.45308202505111694},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4405137002468109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34824156761169434},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2445451319217682},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17521798610687256},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16509127616882324},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.09454062581062317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07649058103561401}],"concepts":[{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.9102250337600708},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.8175722360610962},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6062400937080383},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5995061993598938},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.49215811491012573},{"id":"https://openalex.org/C17685861","wikidata":"https://www.wikidata.org/wiki/Q6960532","display_name":"Time derivative","level":2,"score":0.49192094802856445},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4691036641597748},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.46112507581710815},{"id":"https://openalex.org/C2011187","wikidata":"https://www.wikidata.org/wiki/Q383851","display_name":"Directional derivative","level":2,"score":0.45308202505111694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4405137002468109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34824156761169434},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2445451319217682},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17521798610687256},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16509127616882324},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.09454062581062317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07649058103561401},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8264144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8132859752","display_name":"Development of topological control theory for decision making","funder_award_id":"15H04022","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W416122618","https://openalex.org/W1971044547","https://openalex.org/W2018431869","https://openalex.org/W2022607740","https://openalex.org/W2042444081","https://openalex.org/W2046287268","https://openalex.org/W2048723778","https://openalex.org/W2066807940","https://openalex.org/W2152112251","https://openalex.org/W2180293407","https://openalex.org/W2564478660","https://openalex.org/W2565975964","https://openalex.org/W2592405099","https://openalex.org/W2979241488","https://openalex.org/W6614496956","https://openalex.org/W6642962755","https://openalex.org/W6661090153"],"related_works":["https://openalex.org/W2316769148","https://openalex.org/W2153649672","https://openalex.org/W2055465720","https://openalex.org/W2608900869","https://openalex.org/W4285196787","https://openalex.org/W4287325232","https://openalex.org/W3130639582","https://openalex.org/W2213570671","https://openalex.org/W2108665243","https://openalex.org/W2013531654"],"abstract_inverted_index":{"A":[0],"wide":[1],"variety":[2],"of":[3,49,59,62,73,86,106,122],"robot":[4,23],"tasks":[5],"cannot":[6],"be":[7],"achieved":[8],"by":[9,45],"a":[10,41,46,50,60,69,83,87,95],"smooth":[11],"velocity":[12,19,28,35,64,130],"field.":[13],"This":[14],"paper":[15],"considers":[16],"discontinuous":[17,33,42,74],"desired":[18,34,63,129],"fields":[20],"that":[21,94,114],"represent":[22],"tasks.":[24],"We":[25],"propose":[26],"passive":[27],"field":[29,43,131],"control":[30],"(PVFC)":[31],"with":[32,40,98],"fields.":[36,65],"The":[37,54,110],"method":[38,100,117],"deals":[39],"produced":[44],"generalized":[47,71],"differential":[48,72],"non-smooth":[51,88],"potential":[52,89],"function.":[53,90],"PVFC":[55],"requires":[56],"the":[57,99,104,107,115,119,123,128],"calculation":[58],"derivative":[61,85],"Therefore,":[66],"we":[67],"introduce":[68],"novel":[70],"vector":[75],"fields,":[76],"called":[77],"disassembled":[78],"Hessian":[79],"matrix,":[80],"which":[81],"is":[82,132],"second":[84],"Theoretical":[91],"analysis":[92],"shows":[93],"closed-loop":[96],"system":[97],"satisfies":[101],"passivity":[102],"in":[103],"sense":[105],"sample-and-hold":[108],"solution.":[109],"simulation":[111],"result":[112],"illustrates":[113],"proposed":[116],"achieves":[118],"same":[120],"properties":[121],"conventional":[124],"PVFC,":[125],"even":[126],"though":[127],"discontinuous.":[133]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}