{"id":"https://openalex.org/W3213644277","doi":"https://doi.org/10.1109/jas.2021.1004323","title":"Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space","display_name":"Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space","publication_year":2021,"publication_date":"2021-11-04","ids":{"openalex":"https://openalex.org/W3213644277","doi":"https://doi.org/10.1109/jas.2021.1004323","mag":"3213644277"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004323","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/193890110/Exponential_Set_Point_Stabilization_of_Underactuated_Vehicles_Moving_in_Three_Dimensional_Space.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115430452","display_name":"Xiaodong He","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong He","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["Eindhoven University of Technology (TU/e), Eindhoven, MB, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology (TU/e), Eindhoven, MB, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354416","display_name":"Zhiyong Geng","orcid":"https://orcid.org/0000-0002-6485-8431"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Geng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6767,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69739906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":"2","first_page":"270","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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":0.996999979019165,"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":0.9929999709129333,"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/underactuation","display_name":"Underactuation","score":0.9764803647994995},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6733670234680176},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6008003354072571},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.5330482721328735},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5211455821990967},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4519120156764984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44313347339630127},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.41882017254829407},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.41648930311203003},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40053823590278625},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14697927236557007},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14354997873306274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11420378088951111},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08034133911132812}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9764803647994995},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6733670234680176},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6008003354072571},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.5330482721328735},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5211455821990967},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4519120156764984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44313347339630127},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.41882017254829407},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.41648930311203003},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40053823590278625},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14697927236557007},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14354997873306274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11420378088951111},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08034133911132812},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/jas.2021.1004323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004323","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","pdf_url":"https://pure.tue.nl/ws/files/193890110/Exponential_Set_Point_Stabilization_of_Underactuated_Vehicles_Moving_in_Three_Dimensional_Space.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"He, X, Sun, Z, Geng, Z & Robertsson, A 2022, 'Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space', IEEE/CAA Journal of Automatica Sinica, vol. 9, no. 2, 9604032, pp. 270-282. https://doi.org/10.1109/JAS.2021.1004323","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lup.lub.lu.se:6dc3cd69-c94b-46e4-9609-5571aecd8615","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/6dc3cd69-c94b-46e4-9609-5571aecd8615","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2329-9266","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:tue:oai:pure.tue.nl:publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","is_oa":true,"landing_page_url":"https://research.tue.nl/nl/publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"IEEE/CAA Journal of Automatica Sinica, 9(2):9604032, 270 - 282. Institute of Electrical and Electronics Engineers","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/852bf112-4b80-4bee-944f-5f9b1544c1c3","pdf_url":"https://pure.tue.nl/ws/files/193890110/Exponential_Set_Point_Stabilization_of_Underactuated_Vehicles_Moving_in_Three_Dimensional_Space.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"He, X, Sun, Z, Geng, Z & Robertsson, A 2022, 'Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space', IEEE/CAA Journal of Automatica Sinica, vol. 9, no. 2, 9604032, pp. 270-282. https://doi.org/10.1109/JAS.2021.1004323","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1686830998","display_name":"Semantisk kartering & visuell navigering f\u00f6r smarta robotar","funder_award_id":"RIT15-0038","funder_id":"https://openalex.org/F4320320940","funder_display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning"},{"id":"https://openalex.org/G3856761455","display_name":null,"funder_award_id":"61773024,62073002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3213644277.pdf","grobid_xml":"https://content.openalex.org/works/W3213644277.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1502308290","https://openalex.org/W1510199534","https://openalex.org/W1528809214","https://openalex.org/W1562780008","https://openalex.org/W1971044547","https://openalex.org/W2022369950","https://openalex.org/W2046287268","https://openalex.org/W2057140161","https://openalex.org/W2062622400","https://openalex.org/W2089724372","https://openalex.org/W2099388669","https://openalex.org/W2100510662","https://openalex.org/W2110219751","https://openalex.org/W2118447418","https://openalex.org/W2127795189","https://openalex.org/W2137931778","https://openalex.org/W2152556309","https://openalex.org/W2172147923","https://openalex.org/W2463523319","https://openalex.org/W2463528478","https://openalex.org/W2520150957","https://openalex.org/W2527461557","https://openalex.org/W2726094751","https://openalex.org/W2783844229","https://openalex.org/W2784052315","https://openalex.org/W2903078945","https://openalex.org/W2945050217","https://openalex.org/W2955170523","https://openalex.org/W2969251324","https://openalex.org/W2972177120","https://openalex.org/W2994874570","https://openalex.org/W3010996182","https://openalex.org/W4292402580","https://openalex.org/W6629917956","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W4249144929","https://openalex.org/W2948202761","https://openalex.org/W3213644277","https://openalex.org/W2001682292","https://openalex.org/W2507681057","https://openalex.org/W2914794850","https://openalex.org/W2085572222","https://openalex.org/W2392850481","https://openalex.org/W2979393579","https://openalex.org/W2399806740"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,20,27,38,42,60,81,87,90,97,104,108,120,130,133,154,157],"stabilization":[4,128,158],"of":[5,29,41,62,75,89,117,156],"underactuated":[6,43,105,134],"vehicles":[7],"moving":[8],"in":[9,129,145],"a":[10,73],"three-dimensional":[11],"vector":[12],"space.":[13],"The":[14],"vehicle's":[15],"model":[16,40],"is":[17,84,124],"established":[18],"on":[19,37],"matrix":[21],"Lie":[22],"group":[23,110],"SE(3),":[24],"which":[25,45],"describes":[26],"configuration":[28,143],"rigid":[30],"bodies":[31],"globally":[32],"and":[33,54,93],"uniquely.":[34],"We":[35],"focus":[36],"kinematic":[39],"vehicle,":[44],"features":[46],"an":[47,113,140],"underactuation":[48],"form":[49],"that":[50,96,132],"has":[51],"no":[52],"sway":[53],"heave":[55],"velocity.":[56],"To":[57],"compensate":[58],"for":[59],"lack":[61],"these":[63],"two":[64],"velocities,":[65],"we":[66,94],"construct":[67],"additional":[68],"rotation":[69,76],"matrices":[70],"to":[71,107,126,139,152],"generate":[72],"motion":[74],"coupled":[77],"with":[78,86,112],"translation.":[79],"Then,":[80],"state":[82],"feedback":[83],"designed":[85],"help":[88],"logarithmic":[91],"map,":[92],"prove":[95],"proposed":[98],"control":[99,122],"law":[100],"can":[101,136],"exponentially":[102],"stabilize":[103],"vehicle":[106,135],"identity":[109],"element":[111],"almost":[114],"global":[115],"domain":[116],"attraction.":[118],"Later,":[119],"presented":[121],"strategy":[123],"extended":[125],"set-point":[127],"sense":[131],"be":[137],"stabilized":[138],"arbitrary":[141],"desired":[142],"specified":[144],"advance.":[146],"Finally,":[147],"simulation":[148],"examples":[149],"are":[150],"provided":[151],"verify":[153],"effectiveness":[155],"controller.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
