{"id":"https://openalex.org/W2086974484","doi":"https://doi.org/10.1109/robot.2010.5509428","title":"Stabilizing hybrid switched motion control systems with an on-line trajectory generator","display_name":"Stabilizing hybrid switched motion control systems with an on-line trajectory generator","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2086974484","doi":"https://doi.org/10.1109/robot.2010.5509428","mag":"2086974484"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Kro\u0308ger","raw_affiliation_strings":["Institut f\u00fcr Robotik und Prozessinformatik at the Technische Universit\u00e4t Carolo-Wilhelmina zu Braunschweig, M\u00fchlenpfordtstra\u00dfe 23, D-38106, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozessinformatik at the Technische Universit\u00e4t Carolo-Wilhelmina zu Braunschweig, M\u00fchlenpfordtstra\u00dfe 23, D-38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich M Wahl","raw_affiliation_strings":["Institut f\u00fc r Robotik und Prozessinformatik at the Technische Universit\u00e4 t Carolo-Wilhelmina zu Braunschweig, Braunschweig, Germany","Institut f\u00fcr Robotik und Prozessinformatik at the Technische Universit\u00e4t Carolo-Wilhelmina zu Braunschweig, M\u00fchlenpfordtstra\u00dfe 23, D-38106, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fc r Robotik und Prozessinformatik at the Technische Universit\u00e4 t Carolo-Wilhelmina zu Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozessinformatik at the Technische Universit\u00e4t Carolo-Wilhelmina zu Braunschweig, M\u00fchlenpfordtstra\u00dfe 23, D-38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"4009","last_page":"4015"},"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":0.9962000250816345,"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/T13644","display_name":"Control Systems in Engineering","score":0.9961000084877014,"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/trajectory","display_name":"Trajectory","score":0.7795469760894775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.743933379650116},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5949675440788269},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5764870047569275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5599511861801147},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5572987794876099},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4753422737121582},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4394564926624298},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42944666743278503},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4287642538547516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42355746030807495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31522566080093384},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22753050923347473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21999222040176392},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14436548948287964},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08726844191551208},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.07560083270072937}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7795469760894775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.743933379650116},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5949675440788269},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5764870047569275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5599511861801147},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5572987794876099},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4753422737121582},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4394564926624298},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42944666743278503},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4287642538547516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42355746030807495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31522566080093384},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22753050923347473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21999222040176392},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14436548948287964},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08726844191551208},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.07560083270072937},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W37247277","https://openalex.org/W44659885","https://openalex.org/W618254468","https://openalex.org/W1496415811","https://openalex.org/W1509235676","https://openalex.org/W1552094772","https://openalex.org/W1561445488","https://openalex.org/W1596951786","https://openalex.org/W1598634407","https://openalex.org/W1606563312","https://openalex.org/W1628230797","https://openalex.org/W1967377907","https://openalex.org/W1981518010","https://openalex.org/W1995063858","https://openalex.org/W2015929149","https://openalex.org/W2016958754","https://openalex.org/W2023285936","https://openalex.org/W2049200047","https://openalex.org/W2096211864","https://openalex.org/W2103153410","https://openalex.org/W2104958104","https://openalex.org/W2104963367","https://openalex.org/W2117571644","https://openalex.org/W2118741873","https://openalex.org/W2128785176","https://openalex.org/W2129347763","https://openalex.org/W2147681348","https://openalex.org/W2154510168","https://openalex.org/W2166211466","https://openalex.org/W2168413510","https://openalex.org/W2169922397","https://openalex.org/W2323447981","https://openalex.org/W2596235722","https://openalex.org/W4205362845","https://openalex.org/W4210703827","https://openalex.org/W4238990946","https://openalex.org/W4254005064","https://openalex.org/W6636305787"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2018977954","https://openalex.org/W2101105382","https://openalex.org/W2044900919"],"abstract_inverted_index":{"This":[0],"paper":[1],"suggests":[2],"the":[3,60,72,85,93,148,151],"idea":[4,22],"of":[5,15,20,43,59,97,106,125,155],"a":[6,47,56,102,116,138],"universal":[7],"method":[8],"for":[9],"stabilizing":[10],"discrete-time":[11],"hybrid":[12],"switched-control":[13],"systems":[14],"robot":[16],"manipulators.":[17],"The":[18,87],"core":[19],"this":[21,65,130,156],"is":[23,32,67],"based":[24],"on":[25],"an":[26,53,79],"on-line":[27,51,73,88],"trajectory":[28,74,89],"generation":[29,90],"algorithm":[30,91],"that":[31,76,108],"able":[33],"to":[34,50,71,101,146],"generate":[35],"continuous":[36],"command":[37],"variables":[38],"from":[39],"any":[40],"arbitrary":[41],"state":[42,105],"motion.":[44],"We":[45],"define":[46],"measurable":[48],"criterion":[49,66],"detect":[52],"instability":[54,58],"or":[55],"potential":[57,149],"plant,":[61],"and":[62,122,150],"right":[63],"after":[64],"fulfilled,":[68],"we":[69],"switch":[70],"generator":[75],"acts":[77],"as":[78],"open-loop":[80],"pose":[81],"control":[82],"submodule":[83],"in":[84,115,129,144],"switched-system.":[86],"guides":[92],"system":[94],"under":[95],"consideration":[96],"kinematic":[98],"motion":[99,107],"constraints":[100],"desired":[103],"target":[104],"can":[109],"be":[110],"specified":[111],"beforehand":[112],"(e.g.,":[113],"zero-velocity":[114],"pre-defined":[117],"position).":[118],"Systems":[119],"with":[120,137],"one":[121],"more":[123],"degrees":[124],"freedom":[126],"are":[127,142],"regarded":[128],"paper;":[131],"finally,":[132],"real-world":[133],"experimental":[134],"results":[135],"achieved":[136],"six-joint":[139],"industrial":[140],"manipulator":[141],"presented":[143],"order":[145],"demonstrate":[147],"high":[152],"practical":[153],"relevance":[154],"concept.":[157]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
