{"id":"https://openalex.org/W3033496312","doi":"https://doi.org/10.1109/lcsys.2020.3000190","title":"Adaptive Nonlinear Control With Contraction Metrics","display_name":"Adaptive Nonlinear Control With Contraction Metrics","publication_year":2020,"publication_date":"2020-06-05","ids":{"openalex":"https://openalex.org/W3033496312","doi":"https://doi.org/10.1109/lcsys.2020.3000190","mag":"3033496312"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2020.3000190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3000190","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"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 Control Systems Letters","raw_type":"journal-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/A5079219281","display_name":"Brett T. Lopez","orcid":"https://orcid.org/0000-0001-5366-911X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brett T. Lopez","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":"https://orcid.org/0000-0002-7161-7812"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Jacques E. Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.8914,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.94067247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"5","issue":"1","first_page":"205","last_page":"210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9995999932289124,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9995999932289124,"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":0.9983000159263611,"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":0.9923999905586243,"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/backstepping","display_name":"Backstepping","score":0.8954826593399048},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.7735086679458618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7580567598342896},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.719653844833374},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.708480715751648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5884857177734375},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5845743417739868},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.5130125880241394},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5077701210975647},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.389408677816391},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.386233389377594},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3609585762023926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3156760334968567},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15461379289627075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12981858849525452}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8954826593399048},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.7735086679458618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7580567598342896},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.719653844833374},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.708480715751648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5884857177734375},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5845743417739868},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.5130125880241394},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5077701210975647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.389408677816391},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.386233389377594},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3609585762023926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3156760334968567},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15461379289627075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12981858849525452},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2020.3000190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3000190","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"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 Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6589004259","display_name":"Collaborative Research: Stability, security and emergency control for reconfigurable networked microgrids","funder_award_id":"1809314","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"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":35,"referenced_works":["https://openalex.org/W2016478108","https://openalex.org/W2041076275","https://openalex.org/W2045938917","https://openalex.org/W2055002165","https://openalex.org/W2056706729","https://openalex.org/W2063490625","https://openalex.org/W2065720856","https://openalex.org/W2085908211","https://openalex.org/W2090167557","https://openalex.org/W2096504654","https://openalex.org/W2099303527","https://openalex.org/W2101170197","https://openalex.org/W2104730516","https://openalex.org/W2110331379","https://openalex.org/W2134889984","https://openalex.org/W2139318564","https://openalex.org/W2157577161","https://openalex.org/W2164484193","https://openalex.org/W2171018355","https://openalex.org/W2344210503","https://openalex.org/W2508817578","https://openalex.org/W2536620281","https://openalex.org/W2620383490","https://openalex.org/W2735665324","https://openalex.org/W2737223130","https://openalex.org/W2740826260","https://openalex.org/W2962965869","https://openalex.org/W2963944547","https://openalex.org/W2964337106","https://openalex.org/W2997562534","https://openalex.org/W3023665282","https://openalex.org/W3027843350","https://openalex.org/W4206033904","https://openalex.org/W6684061903","https://openalex.org/W6754273432"],"related_works":["https://openalex.org/W1996201679","https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W2360433292","https://openalex.org/W2141603307","https://openalex.org/W4300511988","https://openalex.org/W1847613412","https://openalex.org/W4229795303","https://openalex.org/W2131265573","https://openalex.org/W2899783744"],"abstract_inverted_index":{"This":[0],"letter":[1],"derives":[2],"direct":[3],"adaptive":[4],"control":[5],"algorithms":[6],"for":[7],"nonlinear":[8],"systems":[9],"nominally":[10],"contracting":[11],"in":[12,43,59],"closed-loop,":[13],"but":[14],"subject":[15],"to":[16],"structured":[17,63],"parametric":[18,64],"uncertainty.":[19,65,77],"The":[20],"approach":[21,70],"is":[22],"more":[23],"general":[24],"than":[25],"methods":[26],"based":[27],"on":[28,71],"feedback":[29],"linearization":[30],"or":[31,39],"backstepping":[32],"as":[33],"it":[34,48],"does":[35],"not":[36],"require":[37],"invertibility":[38],"the":[40,60,69],"system":[41,73],"be":[42,50],"strict-feedback":[44],"form.":[45],"More":[46],"broadly,":[47],"can":[49],"combined":[51],"with":[52,74],"learned":[53],"controllers":[54],"that":[55],"must":[56],"remain":[57],"effective":[58],"presence":[61],"of":[62],"Simulation":[66],"results":[67],"illustrate":[68],"a":[72],"extended":[75],"matched":[76]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":5}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}