{"id":"https://openalex.org/W3121068170","doi":"https://doi.org/10.1109/cdc42340.2020.9304044","title":"Output Feedback Stabilization of an Orbital Robot","display_name":"Output Feedback Stabilization of an Orbital Robot","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3121068170","doi":"https://doi.org/10.1109/cdc42340.2020.9304044","mag":"3121068170"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th 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/A5001084080","display_name":"Hrishik Mishra","orcid":"https://orcid.org/0000-0002-5025-2447"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hrishik Mishra","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013295793","display_name":"Marco De Stefano","orcid":"https://orcid.org/0000-0003-3777-9487"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco De Stefano","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081379048","display_name":"Alessandro Giordano","orcid":"https://orcid.org/0000-0003-2291-7525"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alessandro M. Giordano","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Robotics and Mechatronics,Oberpfaffenhofen,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001084080"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.8827,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74900854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1503","last_page":"1510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9987999796867371,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7649754285812378},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.7194952964782715},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.5386114120483398},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5235837697982788},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.5107390880584717},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4967377781867981},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49232590198516846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4879850745201111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4878416061401367},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.48147574067115784},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4454725384712219},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.42352554202079773},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4172684848308563},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4147944450378418},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.41062217950820923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2602587342262268},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20986586809158325},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.1813410520553589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1623309850692749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09391102194786072},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08758556842803955}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7649754285812378},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7194952964782715},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.5386114120483398},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5235837697982788},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.5107390880584717},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4967377781867981},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49232590198516846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4879850745201111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4878416061401367},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.48147574067115784},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4454725384712219},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.42352554202079773},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4172684848308563},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4147944450378418},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.41062217950820923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2602587342262268},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20986586809158325},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.1813410520553589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1623309850692749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09391102194786072},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08758556842803955},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:192902","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9304044","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"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/W57809982","https://openalex.org/W1179834982","https://openalex.org/W1945123189","https://openalex.org/W1947158743","https://openalex.org/W1966086223","https://openalex.org/W1971908862","https://openalex.org/W1980330256","https://openalex.org/W2055315817","https://openalex.org/W2118192364","https://openalex.org/W2124228020","https://openalex.org/W2145415070","https://openalex.org/W2154513594","https://openalex.org/W2166957155","https://openalex.org/W2296360731","https://openalex.org/W2564320477","https://openalex.org/W2576692987","https://openalex.org/W2738269955","https://openalex.org/W2891011045","https://openalex.org/W2911544692","https://openalex.org/W2912764369","https://openalex.org/W2921327007","https://openalex.org/W3099984312","https://openalex.org/W3100902096","https://openalex.org/W3149811894","https://openalex.org/W3170347562","https://openalex.org/W4241459016","https://openalex.org/W6741040815","https://openalex.org/W6941337670"],"related_works":["https://openalex.org/W2063968051","https://openalex.org/W2349345409","https://openalex.org/W2023296447","https://openalex.org/W2373597118","https://openalex.org/W2605568314","https://openalex.org/W3126494366","https://openalex.org/W2116681061","https://openalex.org/W3175518613","https://openalex.org/W2736496609","https://openalex.org/W4226304811"],"abstract_inverted_index":{"In":[0],"this":[1,35,61,74],"paper,":[2],"we":[3,63,155,163],"propose":[4],"a":[5,18,21,45,56,109],"novel":[6],"controller":[7,41,106],"to":[8],"stabilize":[9],"the":[10,25,40,51,65,78,82,89,100,104,124,131,134,142,148,152,165,169,172],"shape":[11,57,117],"(joints)":[12],"of":[13,47,73,112,116,130,151,171],"an":[14,48],"orbital":[15],"robot":[16],"about":[17],"setpoint,":[19],"i.e.":[20,119],"regulation":[22],"task,":[23],"in":[24,99,114],"specific":[26],"setting":[27],"that":[28,77],"its":[29],"spacecraft":[30,143],"velocity":[31],"is":[32,42,76,144],"unmeasured.":[33],"For":[34,147],"output":[36],"feedback":[37],"stabilization":[38],"problem,":[39],"presented":[43],"as":[44],"synthesis":[46],"observer":[49],"for":[50,84,136],"spacecraft's":[52],"motion":[53],"states":[54],"and":[55,88,121,123,128,167],"control":[58],"law.":[59],"To":[60],"end,":[62],"exploit":[64],"inertia-decoupled":[66],"reduced":[67],"Euler-Lagrange":[68],"equations.":[69],"The":[70],"main":[71],"advantage":[72],"approach":[75],"block-diagonal":[79],"inertia":[80],"avoids":[81],"need":[83,135],"joint":[85],"acceleration":[86],"measurements,":[87],"well-partitioned":[90],"Cori-":[91],"olis/Centrifugal":[92],"matrix":[93],"highlights":[94],"useful":[95],"properties,":[96],"which":[97],"aid":[98],"stability":[101],"analysis.":[102],"Additionally,":[103],"proposed":[105],"uses":[107],"only":[108],"minimal":[110],"set":[111],"measurements":[113],"form":[115],"state-space,":[118],"positions":[120],"velocities,":[122],"exteroceptive":[125],"pose":[126],"(attitude":[127],"position)":[129],"spacecraft.":[132],"Thus,":[133],"inertial":[137],"sensors":[138],"(velocity":[139],"measurements)":[140],"on":[141],"also":[145],"avoided.":[146],"error":[149],"dynamics":[150],"resulting":[153],"system,":[154],"prove":[156,168],"uniform":[157],"almost":[158],"global":[159],"asymptotic":[160],"stability.":[161],"Furthermore,":[162],"validate":[164],"analysis":[166],"effectiveness":[170],"method":[173],"though":[174],"simulations.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-23T05:10:03.516525","created_date":"2025-10-10T00:00:00"}