{"id":"https://openalex.org/W4315488704","doi":"https://doi.org/10.1109/cdc51059.2022.9992902","title":"Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions","display_name":"Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488704","doi":"https://doi.org/10.1109/cdc51059.2022.9992902"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992902","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064460951","display_name":"Noel Csomay-Shanklin","orcid":"https://orcid.org/0000-0002-2361-1694"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Noel Csomay-Shanklin","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017747186","display_name":"Andrew J. Taylor","orcid":"https://orcid.org/0000-0002-5990-590X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew J. Taylor","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026281392","display_name":"Ugo Rosolia","orcid":"https://orcid.org/0000-0002-1682-0551"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ugo Rosolia","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3136,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98289394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3732","last_page":"3739"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T12810","display_name":"Real-time simulation and control systems","score":0.9958999752998352,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.6788538098335266},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6296389698982239},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5859931111335754},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5763975977897644},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5641641616821289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5466017723083496},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47059357166290283},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.4631381034851074},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.4473709464073181},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4421629309654236},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4415862262248993},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.44088461995124817},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36394044756889343},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31492847204208374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23502057790756226},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.20843276381492615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18568646907806396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10043531656265259}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6788538098335266},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6296389698982239},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5859931111335754},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5763975977897644},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5641641616821289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5466017723083496},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47059357166290283},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.4631381034851074},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.4473709464073181},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4421629309654236},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4415862262248993},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.44088461995124817},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36394044756889343},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31492847204208374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23502057790756226},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.20843276381492615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18568646907806396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10043531656265259},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","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},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992902","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W187917816","https://openalex.org/W1517592736","https://openalex.org/W1548148540","https://openalex.org/W1578293866","https://openalex.org/W1587477963","https://openalex.org/W1631623342","https://openalex.org/W1976467619","https://openalex.org/W2017493230","https://openalex.org/W2031096847","https://openalex.org/W2040161377","https://openalex.org/W2041076275","https://openalex.org/W2112930335","https://openalex.org/W2116554046","https://openalex.org/W2139430868","https://openalex.org/W2140531311","https://openalex.org/W2169967276","https://openalex.org/W2604410735","https://openalex.org/W2619551236","https://openalex.org/W2736676174","https://openalex.org/W2737223130","https://openalex.org/W2749680651","https://openalex.org/W2789880759","https://openalex.org/W2885116100","https://openalex.org/W2886821123","https://openalex.org/W2895639295","https://openalex.org/W2909331752","https://openalex.org/W2964040381","https://openalex.org/W2987725885","https://openalex.org/W2989394062","https://openalex.org/W3013679533","https://openalex.org/W3031763985","https://openalex.org/W3045676776","https://openalex.org/W3047315109","https://openalex.org/W3105252106","https://openalex.org/W3112872849","https://openalex.org/W3142410314","https://openalex.org/W3166292517","https://openalex.org/W4210336362","https://openalex.org/W4241796298","https://openalex.org/W4287367083","https://openalex.org/W4292872153","https://openalex.org/W4315488704","https://openalex.org/W6684754062","https://openalex.org/W6789852946"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2767128392","https://openalex.org/W4205300464","https://openalex.org/W4230816919","https://openalex.org/W2892659929","https://openalex.org/W4230398471"],"abstract_inverted_index":{"Modern":[0],"control":[1,84,127],"systems":[2,80],"must":[3],"operate":[4],"in":[5,20,129,173],"increasingly":[6],"complex":[7],"environments":[8],"subject":[9],"to":[10,55,73],"safety":[11],"constraints":[12,150],"and":[13,16,50,103,108,117],"input":[14],"limits,":[15],"are":[17],"often":[18],"implemented":[19],"a":[21,46,82,96,100,130,153],"hierarchical":[22],"fashion":[23],"with":[24],"different":[25],"controllers":[26],"running":[27],"at":[28],"multiple":[29],"time":[30,48],"scales.":[31],"Yet":[32],"traditional":[33],"constructive":[34],"methods":[35],"for":[36,64,95],"nonlinear":[37,79,97,115],"controller":[38],"synthesis":[39],"typically":[40],"\"flatten\"":[41],"this":[42,69],"hierarchy,":[43],"focusing":[44],"on":[45,59],"single":[47],"scale,":[49],"thereby":[51],"limited":[52],"the":[53,65,75,113,139],"ability":[54],"make":[56],"rigorous":[57],"guarantees":[58],"constraint":[60,134],"satisfaction":[61,135],"that":[62,132],"hold":[63],"entire":[66],"system.":[67],"In":[68],"work":[70],"we":[71],"seek":[72],"address":[74],"stabilization":[76],"of":[77,126,141,155],"constrained":[78],"through":[81,138],"multi-rate":[83],"architecture.":[85],"This":[86],"is":[87,136,160],"accomplished":[88],"by":[89,151],"iteratively":[90],"planning":[91,146,152],"continuous":[92,147],"reference":[93],"trajectories":[94,111,148],"system":[98],"using":[99,112],"linearized":[101],"model":[102,116],"Model":[104],"Predictive":[105],"Control":[106,118],"(MPC),":[107],"tracking":[109],"said":[110],"full-order":[114],"Lyapunov":[119],"Functions":[120],"(CLFs).":[121],"Connecting":[122],"these":[123],"two":[124],"levels":[125],"design":[128],"way":[131],"ensures":[133],"achieved":[137],"use":[140],"B\u00e9zier":[142],"curves,":[143],"which":[144,166],"enable":[145],"respecting":[149],"sequence":[154],"discrete":[156],"points.":[157],"Our":[158],"framework":[159],"encoded":[161],"via":[162],"convex":[163],"optimization":[164],"problems":[165],"may":[167],"be":[168],"efficiently":[169],"solved,":[170],"as":[171],"demonstrated":[172],"simulation.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
