{"id":"https://openalex.org/W4285236615","doi":"https://doi.org/10.1109/lcsys.2022.3187349","title":"A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework","display_name":"A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework","publication_year":2022,"publication_date":"2022-06-29","ids":{"openalex":"https://openalex.org/W4285236615","doi":"https://doi.org/10.1109/lcsys.2022.3187349"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3187349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3187349","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":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/313955857/A_Rigid_Body_Observer_BObs_Considering_Pfaffian_Constraints_With_a_Pose_Regulation_Framework.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034297000","display_name":"Michael Rothammer","orcid":"https://orcid.org/0000-0002-8759-2234"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Rothammer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","Department of Informatics, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8759-2234","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076030909","display_name":"Andre Coelho","orcid":"https://orcid.org/0000-0002-0917-5574"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Andre Coelho","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, AE Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-0917-5574","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001084080","display_name":"Hrishik Mishra","orcid":"https://orcid.org/0000-0002-5025-2447"},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Hrishik Mishra","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","Automation and Control Institute, Technical University of Vienna, Vienna, Austria"],"raw_orcid":"https://orcid.org/0000-0002-5025-2447","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Automation and Control Institute, Technical University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","Automation and Control Institute, Technical University of Vienna, Vienna, Austria"],"raw_orcid":"https://orcid.org/0000-0003-0987-7493","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Automation and Control Institute, Technical University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["FR","NL"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, AE Enschede, The Netherlands","LAAS-CNRS, University of Toulouse, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"LAAS-CNRS, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaeffer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","Department of Informatics, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5343-9074","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07128216,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"163","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9958999752998352,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9919000267982483,"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":0.7404162287712097},{"id":"https://openalex.org/keywords/pfaffian","display_name":"Pfaffian","score":0.7099716663360596},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7046148777008057},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.6450441479682922},{"id":"https://openalex.org/keywords/regulator","display_name":"Regulator","score":0.6020793914794922},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6013103127479553},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5080516338348389},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46282559633255005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4280293583869934},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3243052065372467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3225328326225281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18197011947631836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15403592586517334},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10690799355506897},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09675651788711548}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7404162287712097},{"id":"https://openalex.org/C2775956649","wikidata":"https://www.wikidata.org/wiki/Q1189744","display_name":"Pfaffian","level":2,"score":0.7099716663360596},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7046148777008057},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.6450441479682922},{"id":"https://openalex.org/C6929976","wikidata":"https://www.wikidata.org/wiki/Q3771881","display_name":"Regulator","level":3,"score":0.6020793914794922},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6013103127479553},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5080516338348389},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46282559633255005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4280293583869934},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3243052065372467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3225328326225281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18197011947631836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15403592586517334},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10690799355506897},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09675651788711548},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lcsys.2022.3187349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3187349","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"},{"id":"pmh:oai:ris.utwente.nl:openaire/34787d2b-fcbe-44f5-87b2-bea1b2ed216f","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/34787d2b-fcbe-44f5-87b2-bea1b2ed216f","pdf_url":"https://ris.utwente.nl/ws/files/313955857/A_Rigid_Body_Observer_BObs_Considering_Pfaffian_Constraints_With_a_Pose_Regulation_Framework.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Rothammer, M, Coelho, A, Mishra, H, Ott, C, Franchi, A & Albu-Schaeffer, A 2022, 'A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework', IEEE Control Systems Letters, vol. 7, 9810332, pp. 163-168. https://doi.org/10.1109/LCSYS.2022.3187349","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:elib.dlr.de:192893","is_oa":false,"landing_page_url":"https://elib.dlr.de/192893/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"},{"id":"pmh:oai:iris.uniroma1.it:11573/1684073","is_oa":false,"landing_page_url":"https://hdl.handle.net/11573/1684073","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/34787d2b-fcbe-44f5-87b2-bea1b2ed216f","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/34787d2b-fcbe-44f5-87b2-bea1b2ed216f","pdf_url":"https://ris.utwente.nl/ws/files/313955857/A_Rigid_Body_Observer_BObs_Considering_Pfaffian_Constraints_With_a_Pose_Regulation_Framework.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Rothammer, M, Coelho, A, Mishra, H, Ott, C, Franchi, A & Albu-Schaeffer, A 2022, 'A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework', IEEE Control Systems Letters, vol. 7, 9810332, pp. 163-168. https://doi.org/10.1109/LCSYS.2022.3187349","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285236615.pdf","grobid_xml":"https://content.openalex.org/works/W4285236615.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W19375919","https://openalex.org/W1502308290","https://openalex.org/W1980425727","https://openalex.org/W2046287268","https://openalex.org/W2072070426","https://openalex.org/W2134858417","https://openalex.org/W2171658097","https://openalex.org/W2313800697","https://openalex.org/W2499102354","https://openalex.org/W2724857106","https://openalex.org/W2921327007","https://openalex.org/W2967319184","https://openalex.org/W3118741782","https://openalex.org/W4200351289","https://openalex.org/W6629917956","https://openalex.org/W7058395997"],"related_works":["https://openalex.org/W4376311966","https://openalex.org/W3205583637","https://openalex.org/W4390755055","https://openalex.org/W2044523622","https://openalex.org/W1978623376","https://openalex.org/W19670419","https://openalex.org/W3037479919","https://openalex.org/W2623549411","https://openalex.org/W2247174527","https://openalex.org/W2963864135"],"abstract_inverted_index":{"Pfaffian":[0],"(velocity)":[1],"constraints":[2],"are":[3,17,90],"encountered":[4],"commonly":[5],"in":[6],"mechanical":[7],"systems.":[8],"In":[9],"many":[10],"cases,":[11],"the":[12,47,72,75,78,93,105,111,118],"measurements":[13],"for":[14,104],"feedback":[15],"control":[16,50],"obtained":[18],"from":[19,34],"an":[20,82],"exteroceptive":[21],"sensor":[22],"system,":[23],"which":[24,89],"is":[25,69],"not":[26],"only":[27],"of":[28,49,59],"low":[29],"rate,":[30],"but":[31],"also":[32,117],"suffers":[33],"physical":[35],"discontinuities.":[36],"This":[37],"negatively":[38],"affects":[39],"controller":[40],"performance":[41],"and":[42,65,116],"places":[43],"severe":[44],"limitations":[45],"on":[46,81],"choice":[48],"parameters.":[51],"To":[52],"this":[53],"end,":[54],"a":[55,60,66],"novel":[56],"framework":[57,113],"comprised":[58],"rigid":[61],"Body":[62],"Observer":[63],"(BObs)":[64],"pose":[67,94],"regulator":[68,95],"proposed.":[70],"During":[71],"inter-sampling":[73],"periods,":[74],"observer":[76],"propagates":[77],"state":[79],"based":[80],"internal":[83],"model":[84],"to":[85,96],"provide":[86],"continuous":[87],"estimates,":[88],"exploited":[91],"by":[92],"stabilize":[97],"equilibria.":[98],"We":[99],"prove":[100],"uniform":[101],"asymptotic":[102],"stability":[103],"closed":[106],"loop.":[107],"Furthermore,":[108],"we":[109],"validate":[110],"proposed":[112],"through":[114],"simulation":[115],"BObs":[119],"experimentally.":[120]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
