{"id":"https://openalex.org/W4391021833","doi":"https://doi.org/10.1109/cdc49753.2023.10383357","title":"Safe and Robust Stabilization of Uncertain Nonlinear Systems via Control Lyapunov-barrier Function and Disturbance Observer: A Preliminary Study","display_name":"Safe and Robust Stabilization of Uncertain Nonlinear Systems via Control Lyapunov-barrier Function and Disturbance Observer: A Preliminary Study","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391021833","doi":"https://doi.org/10.1109/cdc49753.2023.10383357"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383357","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd 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/A5093745528","display_name":"Sunseok Byeon","orcid":null},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sunseok Byeon","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Seoul,Republic of Korea","School of Electrical and Computer Engineering, University of Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Seoul,Republic of Korea","institution_ids":["https://openalex.org/I124633538"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Seoul, Republic of Korea","institution_ids":["https://openalex.org/I124633538"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024045458","display_name":"Gyunghoon Park","orcid":"https://orcid.org/0000-0001-8339-5359"},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gyunghoon Park","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Seoul,Republic of Korea","School of Electrical and Computer Engineering, University of Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Seoul,Republic of Korea","institution_ids":["https://openalex.org/I124633538"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Seoul, Republic of Korea","institution_ids":["https://openalex.org/I124633538"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5093745528"],"corresponding_institution_ids":["https://openalex.org/I124633538"],"apc_list":null,"apc_paid":null,"fwci":0.1878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52434082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6525","last_page":"6532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/T10876","display_name":"Fault Detection and Control 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":0.8912039995193481},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7225942611694336},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6657261848449707},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6567408442497253},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.521107017993927},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48321306705474854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4812195599079132},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.4809107780456543},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.4543130397796631},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4312297999858856},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.41417396068573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35570693016052246},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35182589292526245},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.29405122995376587},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21243363618850708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1967039704322815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07442259788513184}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8912039995193481},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7225942611694336},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6657261848449707},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6567408442497253},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.521107017993927},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48321306705474854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4812195599079132},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.4809107780456543},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.4543130397796631},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4312297999858856},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41417396068573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35570693016052246},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35182589292526245},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.29405122995376587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21243363618850708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1967039704322815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07442259788513184},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383357","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2486943469","display_name":null,"funder_award_id":"2E32290,2E32293","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1972149633","https://openalex.org/W2018291128","https://openalex.org/W2086767939","https://openalex.org/W2151489480","https://openalex.org/W2236026133","https://openalex.org/W2238345790","https://openalex.org/W2587478215","https://openalex.org/W2964849820","https://openalex.org/W2968945909","https://openalex.org/W3105722772","https://openalex.org/W4292249799","https://openalex.org/W4315488857"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W1970635650","https://openalex.org/W2126112326","https://openalex.org/W2475132469","https://openalex.org/W1976574339","https://openalex.org/W2766646824","https://openalex.org/W1996957550","https://openalex.org/W1979297933","https://openalex.org/W2588600327"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,109],"address":[4],"the":[5,25,36,46,52,60,77,88,101,107,115,127,130,144],"problem":[6],"of":[7,15,54,114,129],"safe":[8,94],"and":[9,44,57,141],"robust":[10],"stabilization":[11],"for":[12,35,133,143],"a":[13,30,69,72,97,111,120,148],"class":[14],"uncertain":[16],"nonlinear":[17,135],"systems.":[18],"The":[19,41],"key":[20],"idea":[21],"is":[22,92],"to":[23,29,59],"employ":[24],"disturbance":[26,48,58],"observer":[27],"(DOB)":[28],"nominal":[31,89,121],"safety-critical":[32],"controller":[33],"designed":[34],"control":[37,78],"Lyapunov-barrier":[38],"function":[39],"(CLBF).":[40],"DOB":[42],"estimates":[43],"compensates":[45],"lumped":[47],"that":[49],"represents":[50],"all":[51],"effect":[53],"model":[55],"uncertainty":[56],"system":[61,91],"approximately":[62],"but":[63,137],"as":[64,66,85,87,119],"accurately":[65],"possible.":[67],"As":[68],"result,":[70],"only":[71],"small":[73],"perturbation":[74],"remains":[75],"in":[76,96],"loop,":[79],"which":[80],"can":[81],"be":[82],"dealt":[83],"with":[84,138],"long":[86],"closed-loop":[90],"input-to-state":[93],"(ISSf)":[95],"sense.":[98],"To":[99],"ensure":[100],"ISSf":[102],"property":[103],"without":[104],"restriction":[105],"on":[106,147],"CLBF,":[108],"propose":[110],"modified":[112],"version":[113],"Sontag's":[116],"universal":[117],"formula":[118],"controller.":[122],"This":[123],"prelim-inary":[124],"study":[125],"verifies":[126],"validity":[128],"proposed":[131],"approach":[132],"2nd-order":[134],"systems,":[136],"mathematical":[139],"analysis":[140],"simulations":[142],"inverted":[145],"pendulum":[146],"cart.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
