{"id":"https://openalex.org/W2942492807","doi":"https://doi.org/10.1109/romoco.2019.8787353","title":"On stabilization of nonlinear systems with drift by time-varying feedback laws","display_name":"On stabilization of nonlinear systems with drift by time-varying feedback laws","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2942492807","doi":"https://doi.org/10.1109/romoco.2019.8787353","mag":"2942492807"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2019.8787353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.10219","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Alexander Zuyev","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089221","display_name":"Institute of Applied Mathematics and Mechanics","ror":"https://ror.org/006c77f48","country_code":"UA","type":"facility","lineage":["https://openalex.org/I149851306","https://openalex.org/I4210089221"]},{"id":"https://openalex.org/I149851306","display_name":"National Academy of Sciences of Ukraine","ror":"https://ror.org/00je4t102","country_code":"UA","type":"funder","lineage":["https://openalex.org/I149851306"]}],"countries":["UA"],"is_corresponding":true,"raw_author_name":"Alexander Zuyev","raw_affiliation_strings":["Institute of Applied Mathematics and Mechanics, National Academy of Sciences of Ukraine, Sloviansk, Ukraine"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mathematics and Mechanics, National Academy of Sciences of Ukraine, Sloviansk, Ukraine","institution_ids":["https://openalex.org/I4210089221","https://openalex.org/I149851306"]}]},{"author_position":"last","author":{"id":null,"display_name":"Victoria Grushkovskaya","orcid":null},"institutions":[{"id":"https://openalex.org/I149851306","display_name":"National Academy of Sciences of Ukraine","ror":"https://ror.org/00je4t102","country_code":"UA","type":"funder","lineage":["https://openalex.org/I149851306"]},{"id":"https://openalex.org/I4210089221","display_name":"Institute of Applied Mathematics and Mechanics","ror":"https://ror.org/006c77f48","country_code":"UA","type":"facility","lineage":["https://openalex.org/I149851306","https://openalex.org/I4210089221"]}],"countries":["UA"],"is_corresponding":false,"raw_author_name":"Victoria Grushkovskaya","raw_affiliation_strings":["Institute of Applied Mathematics and Mechanics, National Academy of Sciences of Ukraine, Sloviansk, Ukraine"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mathematics and Mechanics, National Academy of Sciences of Ukraine, Sloviansk, Ukraine","institution_ids":["https://openalex.org/I4210089221","https://openalex.org/I149851306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149851306","https://openalex.org/I4210089221"],"apc_list":null,"apc_paid":null,"fwci":0.6723,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69454498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9","last_page":"14"},"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":0.9991000294685364,"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":0.9991000294685364,"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":0.9988999962806702,"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":0.9980000257492065,"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/controllability","display_name":"Controllability","score":0.7670000195503235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6729999780654907},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6503000259399414},{"id":"https://openalex.org/keywords/rank-condition","display_name":"Rank condition","score":0.5551000237464905},{"id":"https://openalex.org/keywords/trigonometry","display_name":"Trigonometry","score":0.5436000227928162},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.4690000116825104},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4178999960422516},{"id":"https://openalex.org/keywords/trigonometric-functions","display_name":"Trigonometric functions","score":0.3871999979019165}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7670000195503235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6729999780654907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.659500002861023},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6503000259399414},{"id":"https://openalex.org/C2778095854","wikidata":"https://www.wikidata.org/wiki/Q4420961","display_name":"Rank condition","level":3,"score":0.5551000237464905},{"id":"https://openalex.org/C29001434","wikidata":"https://www.wikidata.org/wiki/Q8084","display_name":"Trigonometry","level":2,"score":0.5436000227928162},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.4690000116825104},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4178999960422516},{"id":"https://openalex.org/C178009071","wikidata":"https://www.wikidata.org/wiki/Q93344","display_name":"Trigonometric functions","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.35510000586509705},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3352000117301941},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.29919999837875366},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2676999866962433},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.2655999958515167},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/romoco.2019.8787353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1904.10219","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.10219","pdf_url":"https://arxiv.org/pdf/1904.10219","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.10219","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.10219","pdf_url":"https://arxiv.org/pdf/1904.10219","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1913863093","https://openalex.org/W1985578018","https://openalex.org/W2011066406","https://openalex.org/W2011602062","https://openalex.org/W2015953957","https://openalex.org/W2098960740","https://openalex.org/W2137751111","https://openalex.org/W2163545691","https://openalex.org/W2168513440","https://openalex.org/W2168912020","https://openalex.org/W2177108804","https://openalex.org/W2477016032","https://openalex.org/W2551042364","https://openalex.org/W2577772826","https://openalex.org/W2594776653","https://openalex.org/W2601130222","https://openalex.org/W2949929288","https://openalex.org/W6642962755","https://openalex.org/W7075581542"],"related_works":[],"abstract_inverted_index":{"This":[0,41],"paper":[1],"deals":[2],"with":[3,11,33,61],"the":[4,12,21,25,30,69,72,82,85,89,96,104,109,115,138,141],"stabilization":[5,105],"problem":[6,106],"for":[7,125],"nonlinear":[8],"control-affine":[9],"systems":[10,44],"use":[13],"of":[14,36,43,50,71,81,84,112,114,122,133,140],"oscillating":[15],"feedback":[16],"controls.":[17],"We":[18,54,118],"assume":[19],"that":[20,95],"local":[22],"controllability":[23,90],"around":[24],"origin":[26],"is":[27,93],"guaranteed":[28],"by":[29,107],"rank":[31],"condition":[32],"Lie":[34],"brackets":[35],"length":[37],"up":[38],"to":[39,102,136],"3.":[40],"class":[42],"includes,":[45],"in":[46,79,88],"particular,":[47],"mathematical":[48,131],"models":[49],"rotating":[51],"rigid":[52],"bodies.":[53],"propose":[55],"an":[56],"explicit":[57],"control":[58],"design":[59],"scheme":[60],"time-varying":[62],"trigonometric":[63],"polynomials":[64],"whose":[65],"coefficients":[66,76],"depend":[67],"on":[68],"state":[70],"system.":[73,117],"The":[74],"above":[75],"are":[77],"computed":[78],"terms":[80],"inversion":[83],"matrix":[86],"appearing":[87],"condition.":[91],"It":[92],"shown":[94],"proposed":[97],"controllers":[98],"can":[99],"be":[100],"used":[101],"solve":[103],"exploiting":[108],"Chen-Fliess":[110],"expansion":[111],"solutions":[113],"closed-loop":[116],"also":[119],"present":[120],"results":[121],"numerical":[123],"simulations":[124],"controlled":[126],"Euler's":[127],"equations":[128],"and":[129],"a":[130],"model":[132],"underwater":[134],"vehicle":[135],"illustrate":[137],"efficiency":[139],"obtained":[142],"controllers.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2019-05-03T00:00:00"}