{"id":"https://openalex.org/W2911869899","doi":"https://doi.org/10.1109/cdc.2018.8618908","title":"Attitude Constrained Control on SO(3): An Explicit Reference Governor Approach","display_name":"Attitude Constrained Control on SO(3): An Explicit Reference Governor Approach","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2911869899","doi":"https://doi.org/10.1109/cdc.2018.8618908","mag":"2911869899"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2018.8618908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8618908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5103240321","display_name":"Satoshi Nakano","orcid":"https://orcid.org/0000-0003-2130-2393"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Nakano","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019269405","display_name":"Tam W. Nguyen","orcid":"https://orcid.org/0000-0002-0270-1199"},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tam W. Nguyen","raw_affiliation_strings":["Department of Control Engineering and System Analysis, Universit\u00e9 libre de Bruxelles, Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and System Analysis, Universit\u00e9 libre de Bruxelles, Brussels, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019019985","display_name":"Emanuele Garone","orcid":"https://orcid.org/0000-0003-0419-8483"},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Emanuele Garone","raw_affiliation_strings":["Department of Control Engineering and System Analysis, Universit\u00e9 libre de Bruxelles, Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and System Analysis, Universit\u00e9 libre de Bruxelles, Brussels, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054187878","display_name":"Tatsuya Ibuki","orcid":"https://orcid.org/0000-0003-1525-1024"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Ibuki","raw_affiliation_strings":["Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054252577","display_name":"Mitsuji Sampei","orcid":"https://orcid.org/0000-0002-3478-8399"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuji Sampei","raw_affiliation_strings":["Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7493,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.74438155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"21","issue":null,"first_page":"1833","last_page":"1838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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":0.9940000176429749,"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/quaternion","display_name":"Quaternion","score":0.8153561353683472},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7556121349334717},{"id":"https://openalex.org/keywords/conic-section","display_name":"Conic section","score":0.6883671283721924},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6331965327262878},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6321926116943359},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6126717925071716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5466251969337463},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5057601928710938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4999544620513916},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4971165955066681},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4881952404975891},{"id":"https://openalex.org/keywords/governor","display_name":"Governor","score":0.46219876408576965},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.4223301410675049},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3587259352207184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33553558588027954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21954378485679626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09839755296707153}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8153561353683472},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7556121349334717},{"id":"https://openalex.org/C108598597","wikidata":"https://www.wikidata.org/wiki/Q124255","display_name":"Conic section","level":2,"score":0.6883671283721924},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6331965327262878},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6321926116943359},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6126717925071716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5466251969337463},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5057601928710938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4999544620513916},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4971165955066681},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4881952404975891},{"id":"https://openalex.org/C2781233147","wikidata":"https://www.wikidata.org/wiki/Q3229617","display_name":"Governor","level":2,"score":0.46219876408576965},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.4223301410675049},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3587259352207184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33553558588027954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21954378485679626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09839755296707153},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2018.8618908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8618908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dipot.ulb.ac.be:2013/286902","is_oa":false,"landing_page_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/286902","pdf_url":null,"source":{"id":"https://openalex.org/S4306401063","display_name":"D\u00e9p\u00f4t institutionnel de l'Universit\u00e9 libre de Bruxelles (Universit\u00e9 Libre de Bruxelles)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I132053463","host_organization_name":"Universit\u00e9 Libre de Bruxelles","host_organization_lineage":["https://openalex.org/I132053463"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE Conference on Decision & Control, 2018-December","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:dipot.ulb.ac.be:2013/335070","is_oa":false,"landing_page_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/335070","pdf_url":null,"source":{"id":"https://openalex.org/S4306401063","display_name":"D\u00e9p\u00f4t institutionnel de l'Universit\u00e9 libre de Bruxelles (Universit\u00e9 Libre de Bruxelles)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I132053463","host_organization_name":"Universit\u00e9 Libre de Bruxelles","host_organization_lineage":["https://openalex.org/I132053463"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: IEEE Conference on Decision and Control","raw_type":"info:ulb-repo/semantics/openurl/proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.800000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W1564897360","https://openalex.org/W1991601378","https://openalex.org/W2018431869","https://openalex.org/W2047525345","https://openalex.org/W2082991751","https://openalex.org/W2111691855","https://openalex.org/W2139799964","https://openalex.org/W2140272532","https://openalex.org/W2164369378","https://openalex.org/W2169185597","https://openalex.org/W2242666076","https://openalex.org/W2291537719","https://openalex.org/W2513988836","https://openalex.org/W2766621710","https://openalex.org/W2962965379","https://openalex.org/W2963444849","https://openalex.org/W2964350522","https://openalex.org/W3217246742","https://openalex.org/W4292402580","https://openalex.org/W6684550589","https://openalex.org/W6903831354"],"related_works":["https://openalex.org/W2567375923","https://openalex.org/W3108645772","https://openalex.org/W2330784347","https://openalex.org/W2102036932","https://openalex.org/W2370734581","https://openalex.org/W2076146791","https://openalex.org/W2965979218","https://openalex.org/W1957657662","https://openalex.org/W1976285134","https://openalex.org/W4309462258"],"abstract_inverted_index":{"This":[0],"paper":[1,51],"focuses":[2],"on":[3,28,135],"the":[4,17,63,66,70,84,94,107,123,126,161,164],"attitude":[5,64,72,96],"constrained":[6],"control":[7,56,109,166],"of":[8,33,49,65,133,143,163],"a":[9,23,55,90,114],"rigid":[10,67],"body":[11,68],"in":[12,131],"three":[13],"dimensions,":[14],"and":[15,41,102,138,150],"proposes":[16],"Explicit":[18],"Reference":[19],"Governor":[20],"(ERG)":[21],"as":[22,147],"solution":[24],"to":[25,53,61,69,88,118,122,159],"handle":[26],"constraints":[27,34,76,100],"SO":[29,136],"(3).":[30],"Two":[31],"types":[32],"are":[35,104,129,156],"considered:":[36],"(i)":[37,101],"input":[38],"torque":[39],"constraints,":[40],"(ii)":[42,103],"geometric":[43],"conic":[44],"pointing":[45],"constraints.":[46],"The":[47],"objective":[48],"this":[50],"is":[52,59,87,111],"design":[54,89],"law":[57],"that":[58,92],"able":[60],"steer":[62],"desired":[71,95],"reference":[73],"while":[74],"enforcing":[75],"satisfaction":[77],"at":[78],"all":[79],"times.":[80],"To":[81],"do":[82,139],"so,":[83],"first":[85],"step":[86],"controller":[91],"makes":[93],"asymptotically":[97],"stable":[98],"when":[99],"neglected.":[105],"Then,":[106],"proposed":[108,127,165],"scheme":[110],"augmented":[112],"with":[113],"suitably":[115],"designed":[116],"ERG":[117],"add":[119],"constraint-handling":[120],"capabilities":[121],"scheme.":[124,167],"All":[125],"solutions":[128],"defined":[130],"terms":[132],"elements":[134],"(3)":[137],"not":[140],"make":[141],"use":[142],"any":[144],"parameterizations":[145],"such":[146],"e.g.,":[148],"quaternions":[149],"Euler":[151],"angles.":[152],"Finally,":[153],"numerical":[154],"simulations":[155],"carried":[157],"out":[158],"show":[160],"effectiveness":[162]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}