{"id":"https://openalex.org/W4210605456","doi":"https://doi.org/10.1109/cdc45484.2021.9683098","title":"Robust Control of Relative Degree Two Systems Subject to Output Constraints with Time-Varying Bounds","display_name":"Robust Control of Relative Degree Two Systems Subject to Output Constraints with Time-Varying Bounds","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210605456","doi":"https://doi.org/10.1109/cdc45484.2021.9683098"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683098","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th 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/A5028604373","display_name":"Mark Spiller","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mark Spiller","raw_affiliation_strings":["Dynamics and Control, University of Duisburg-Essen, Duisburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dynamics and Control, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113663613","display_name":"Dirk S\u00f6ffker","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Soffker","raw_affiliation_strings":["Dynamics and Control, University of Duisburg-Essen, Duisburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dynamics and Control, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028604373"],"corresponding_institution_ids":["https://openalex.org/I62318514"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26747437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"50","issue":null,"first_page":"5402","last_page":"5409"},"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":0.998199999332428,"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":0.9965999722480774,"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/control-theory","display_name":"Control theory (sociology)","score":0.7379639148712158},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.7025940418243408},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.641241192817688},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5802301168441772},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5483523011207581},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.5418705344200134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.526802122592926},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5157561302185059},{"id":"https://openalex.org/keywords/time-derivative","display_name":"Time derivative","score":0.4980638027191162},{"id":"https://openalex.org/keywords/control-variable","display_name":"Control variable","score":0.49018269777297974},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.48840397596359253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4610004425048828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4507935643196106},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4442346394062042},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44275742769241333},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07245844602584839}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7379639148712158},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.7025940418243408},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.641241192817688},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5802301168441772},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5483523011207581},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.5418705344200134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.526802122592926},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5157561302185059},{"id":"https://openalex.org/C17685861","wikidata":"https://www.wikidata.org/wiki/Q6960532","display_name":"Time derivative","level":2,"score":0.4980638027191162},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.49018269777297974},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.48840397596359253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4610004425048828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4507935643196106},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4442346394062042},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44275742769241333},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07245844602584839},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683098","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:bibliographie.ub.uni-due.de:ubo_mods_00175979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/CDC45484.2021.9683098","pdf_url":null,"source":{"id":"https://openalex.org/S7407055102","display_name":"Universit\u00e4tsbibliographie, Universit\u00e4t Duisburg-Essen","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Buchaufsatz/Kapitel"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W39920119","https://openalex.org/W1724370735","https://openalex.org/W1994067443","https://openalex.org/W1999558720","https://openalex.org/W1999648900","https://openalex.org/W2035730089","https://openalex.org/W2070768496","https://openalex.org/W2080771128","https://openalex.org/W2084166574","https://openalex.org/W2097234101","https://openalex.org/W2097814659","https://openalex.org/W2100913768","https://openalex.org/W2102686281","https://openalex.org/W2113265921","https://openalex.org/W2126998183","https://openalex.org/W2129884504","https://openalex.org/W2132315093","https://openalex.org/W2134702196","https://openalex.org/W2134944309","https://openalex.org/W2146356627","https://openalex.org/W2153463745","https://openalex.org/W2157540237","https://openalex.org/W2162117184","https://openalex.org/W2195572999","https://openalex.org/W2208608249","https://openalex.org/W2420367108","https://openalex.org/W2517836063","https://openalex.org/W2810803082","https://openalex.org/W2888308857","https://openalex.org/W2963255615","https://openalex.org/W3034699277","https://openalex.org/W3154781362"],"related_works":["https://openalex.org/W2166459078","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2274682661","https://openalex.org/W897560829","https://openalex.org/W2375807149","https://openalex.org/W2786766270","https://openalex.org/W2376738034"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"robust":[3],"constrained":[4,35,61,88],"control":[5,18,28,39,46,80,89,104],"of":[6,26,55,97,100,105],"nonlinear":[7],"systems":[8],"that":[9,59,86],"have":[10],"relative":[11],"degree":[12],"two":[13],"with":[14],"respect":[15],"to":[16,32,66],"the":[17,27,34,53,56,60,69,78,87,101],"variable":[19,29,62],"is":[20,30,41,83,109],"considered.":[21],"The":[22,37],"first":[23],"time":[24],"derivative":[25],"assumed":[31],"be":[33,64,92],"variable.":[36],"developed":[38],"approach":[40],"based":[42],"on":[43],"sliding":[44,50],"mode":[45],"design.":[47],"It":[48],"places":[49],"manifolds":[51],"below":[52],"bounds":[54],"constraints":[57],"so":[58],"will":[63],"forced":[65],"stay":[67],"in":[68],"admissible":[70],"region":[71],"if":[72],"it":[73,82],"approaches":[74],"a":[75,106,112],"bound.":[76],"For":[77],"proposed":[79],"method":[81],"analytically":[84],"shown":[85],"problem":[90],"can":[91],"solved.":[93],"This":[94],"includes":[95],"consideration":[96],"time-varying":[98],"behavior":[99],"bounds.":[102],"Velocity-constrained":[103],"two-link":[107],"robot":[108],"considered":[110],"as":[111],"numerical":[113],"example.":[114]},"counts_by_year":[],"updated_date":"2026-03-02T08:37:19.008085","created_date":"2025-10-10T00:00:00"}