{"id":"https://openalex.org/W4315471877","doi":"https://doi.org/10.1109/cdc51059.2022.9992628","title":"Funnel Control Under Hard and Soft Output Constraints","display_name":"Funnel Control Under Hard and Soft Output Constraints","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315471877","doi":"https://doi.org/10.1109/cdc51059.2022.9992628"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992628","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-341630","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028782171","display_name":"Farhad Mehdifar","orcid":"https://orcid.org/0000-0003-2605-961X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Farhad Mehdifar","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020695725","display_name":"Charalampos P. Bechlioulis","orcid":"https://orcid.org/0000-0001-9850-2540"},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Charalampos P. Bechlioulis","raw_affiliation_strings":["University of Patras,Division of Systems and Control,Department of Electrical and Computer Engineering,Patra,Greece","Department of Electrical and Computer Engineering, Division of Systems and Control, University of Patras, Patra, Greece"],"affiliations":[{"raw_affiliation_string":"University of Patras,Division of Systems and Control,Department of Electrical and Computer Engineering,Patra,Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Division of Systems and Control, University of Patras, Patra, Greece","institution_ids":["https://openalex.org/I174878644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028782171"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.8959,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.82874379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4473","last_page":"4478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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/funnel","display_name":"Funnel","score":0.9625992774963379},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7584058046340942},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5848466753959656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5653575658798218},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5375762581825256},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49045130610466003},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47263023257255554},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4404330849647522},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4268093705177307},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37521830201148987},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27979540824890137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23568031191825867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16087326407432556}],"concepts":[{"id":"https://openalex.org/C17435862","wikidata":"https://www.wikidata.org/wiki/Q29957","display_name":"Funnel","level":2,"score":0.9625992774963379},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7584058046340942},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5848466753959656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5653575658798218},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5375762581825256},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49045130610466003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47263023257255554},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4404330849647522},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4268093705177307},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37521830201148987},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27979540824890137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23568031191825867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16087326407432556},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992628","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-341630","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-341630","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-341630","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-341630","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2013217995","https://openalex.org/W2023265378","https://openalex.org/W2034743631","https://openalex.org/W2062373349","https://openalex.org/W2097121541","https://openalex.org/W2109151516","https://openalex.org/W2140880347","https://openalex.org/W2167533089","https://openalex.org/W2474402095","https://openalex.org/W2513988836","https://openalex.org/W2560504659","https://openalex.org/W2765203865","https://openalex.org/W2968945909","https://openalex.org/W2972981736","https://openalex.org/W3135519380","https://openalex.org/W4211147054","https://openalex.org/W4315471877"],"related_works":["https://openalex.org/W2073875810","https://openalex.org/W2356551568","https://openalex.org/W2081113335","https://openalex.org/W2358635018","https://openalex.org/W4242602405","https://openalex.org/W2364686644","https://openalex.org/W2889922688","https://openalex.org/W2144804153","https://openalex.org/W2959018463","https://openalex.org/W4295767435"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,24,60,88,92,96,102],"funnel":[4,17],"control":[5,54],"method":[6,55],"under":[7],"time-varying":[8],"hard":[9,31,48],"and":[10,34],"soft":[11,35],"output":[12],"constraints.":[13,49],"First,":[14],"an":[15],"online":[16],"planning":[18],"scheme":[19],"is":[20,56],"designed":[21],"that":[22,71],"generates":[23],"constraint":[25,79],"consistent":[26,80],"funnel,":[27],"which":[28],"always":[29,74],"respects":[30],"(safety)":[32],"constraints,":[33],"(performance)":[36],"constraints":[37],"are":[38,43,85],"met":[39],"only":[40],"when":[41],"they":[42],"not":[44],"conflicting":[45],"with":[46,87],"the":[47,51,72,77,83],"Next,":[50],"prescribed":[52],"performance":[53],"employed":[57],"for":[58,65],"designing":[59],"robust":[61],"low-complexity":[62],"funnel-based":[63],"controller":[64],"uncertain":[66],"nonlinear":[67],"Euler-Lagrangian":[68],"systems":[69],"such":[70],"outputs":[73],"remain":[75],"within":[76],"planned":[78],"funnels.":[81],"Finally,":[82],"results":[84],"verified":[86],"simulation":[89],"example":[90],"of":[91],"mobile":[93],"robot":[94],"tracking":[95],"moving":[97],"object":[98],"while":[99],"staying":[100],"in":[101],"box-constrained":[103],"safe":[104],"space.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}