{"id":"https://openalex.org/W2899606639","doi":"https://doi.org/10.1109/lra.2018.2879683","title":"Efficiently Computable Constrained Optimal Feedback Controllers","display_name":"Efficiently Computable Constrained Optimal Feedback Controllers","publication_year":2018,"publication_date":"2018-11-05","ids":{"openalex":"https://openalex.org/W2899606639","doi":"https://doi.org/10.1109/lra.2018.2879683","mag":"2899606639"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2879683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2879683","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5001675070","display_name":"Yuqing Chen","orcid":"https://orcid.org/0000-0003-1286-0617"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yuqing Chen","raw_affiliation_strings":["Dynamics and Control Laboratory, Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1286-0617","affiliations":[{"raw_affiliation_string":"Dynamics and Control Laboratory, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Italian National Research Council, Institute of Industrial Technologies and Automation, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4427-536X","affiliations":[{"raw_affiliation_string":"Italian National Research Council, Institute of Industrial Technologies and Automation, Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089213370","display_name":"David J. Braun","orcid":"https://orcid.org/0000-0002-3672-3847"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"David J. Braun","raw_affiliation_strings":["Dynamics and Control Laboratory, Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3672-3847","affiliations":[{"raw_affiliation_string":"Dynamics and Control Laboratory, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001675070"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":1.1238,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79754233,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"4","issue":"1","first_page":"121","last_page":"128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T11236","display_name":"Control Systems and Identification","score":0.9890999794006348,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9833999872207642,"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":0.7516710758209229},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6671895980834961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6521040201187134},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5991491675376892},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5201107263565063},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45461946725845337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4498084783554077},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4392314553260803},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4361860156059265},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32668185234069824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1875925362110138},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1372728943824768},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09939616918563843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09215471148490906}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7516710758209229},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6671895980834961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521040201187134},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5991491675376892},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5201107263565063},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45461946725845337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4498084783554077},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4392314553260803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4361860156059265},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32668185234069824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1875925362110138},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1372728943824768},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09939616918563843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09215471148490906},{"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/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/lra.2018.2879683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2879683","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W658381347","https://openalex.org/W1964946446","https://openalex.org/W1967688489","https://openalex.org/W1978956894","https://openalex.org/W1983864916","https://openalex.org/W2007770288","https://openalex.org/W2011833550","https://openalex.org/W2025752438","https://openalex.org/W2049670620","https://openalex.org/W2056653303","https://openalex.org/W2066557929","https://openalex.org/W2087617385","https://openalex.org/W2126147262","https://openalex.org/W2162358447","https://openalex.org/W2270500925","https://openalex.org/W2334591577","https://openalex.org/W2410057527","https://openalex.org/W2477791619","https://openalex.org/W2509969228","https://openalex.org/W2514689415","https://openalex.org/W2753320496","https://openalex.org/W3035578948","https://openalex.org/W3101211657","https://openalex.org/W4301014524"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W2064245428","https://openalex.org/W1892002403","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2154204858"],"abstract_inverted_index":{"Constrained":[0],"optimal":[1,38,72,120],"feedback":[2,39,77,121],"controllers":[3,19,40,50,73,83],"can":[4,42],"be":[5,43],"used":[6],"to":[7,53],"mitigate":[8],"external":[9],"perturbations":[10],"and":[11,60,64,78,88,102,110],"modeling":[12],"errors":[13],"in":[14,30,47,94],"robot":[15,104],"control.":[16],"However,":[17],"these":[18],"require":[20,89],"extensive":[21],"calculation":[22,93],"that":[23,41],"is":[24],"one":[25],"of":[26,114],"their":[27],"main":[28],"limitations":[29],"real-time":[31,95],"implementation.":[32,96],"Here":[33],"we":[34],"present":[35],"two":[36],"locally":[37,71],"efficiently":[44,117],"computed":[45],"online":[46,92],"real-time.":[48],"These":[49],"are":[51],"applicable":[52],"systems":[54],"with":[55],"nonlinear":[56,58],"dynamics,":[57],"state":[59],"control":[61,67,105,122],"dependent":[62],"cost,":[63],"box":[65],"constrained":[66,119],"inputs.":[68],"The":[69],"proposed":[70,116],"differ":[74],"from":[75],"alternative":[76],"re-computed":[79],"feed-forward":[80],"model":[81],"predictive":[82],"which":[84],"provide":[85],"sub-optimal":[86],"inputs":[87],"significantly":[90],"more":[91],"Theoretical":[97],"arguments,":[98],"a":[99,103],"numerical":[100],"simulation,":[101],"experiment":[106],"substantiate":[107],"our":[108],"claims,":[109],"show":[111],"the":[112,115],"applicability":[113],"computable":[118],"method.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
