{"id":"https://openalex.org/W2273683766","doi":"https://doi.org/10.1109/tac.2015.2434032","title":"Compensating Drift Vector Fields With Gradient Vector Fields for Asymptotic Submanifold Stabilization","display_name":"Compensating Drift Vector Fields With Gradient Vector Fields for Asymptotic Submanifold Stabilization","publication_year":2015,"publication_date":"2015-05-15","ids":{"openalex":"https://openalex.org/W2273683766","doi":"https://doi.org/10.1109/tac.2015.2434032","mag":"2273683766"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2015.2434032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2015.2434032","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","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/A5009183895","display_name":"Jan Maximilian Montenbruck","orcid":"https://orcid.org/0000-0001-9566-2960"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jan Maximilian Montenbruck","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113560639","display_name":"Mathias B\u00fcrger","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mathias Burger","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, Robert Bosch GmbH, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, Robert Bosch GmbH, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001090900","display_name":"Frank Allg\u00f6wer","orcid":"https://orcid.org/0000-0002-3702-3658"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Allgower","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009183895"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":3.409,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92752765,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"61","issue":"2","first_page":"388","last_page":"399"},"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":0.9991000294685364,"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/T12772","display_name":"Control and Stability of Dynamical Systems","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":0.9983000159263611,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.7220022678375244},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7006242275238037},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6358944177627563},{"id":"https://openalex.org/keywords/submanifold","display_name":"Submanifold","score":0.6303207874298096},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6085484027862549},{"id":"https://openalex.org/keywords/modulo","display_name":"Modulo","score":0.48641419410705566},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.48253151774406433},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.47997307777404785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47906693816185},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.43248677253723145},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4116484820842743},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3040848970413208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.28087079524993896},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.27288317680358887},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23515918850898743},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.2052176594734192},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19627514481544495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12190645933151245},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.11864364147186279},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0835217833518982},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.0737197995185852}],"concepts":[{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.7220022678375244},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7006242275238037},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6358944177627563},{"id":"https://openalex.org/C151300846","wikidata":"https://www.wikidata.org/wiki/Q125539","display_name":"Submanifold","level":2,"score":0.6303207874298096},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6085484027862549},{"id":"https://openalex.org/C54732982","wikidata":"https://www.wikidata.org/wiki/Q1415345","display_name":"Modulo","level":2,"score":0.48641419410705566},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48253151774406433},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.47997307777404785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47906693816185},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.43248677253723145},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4116484820842743},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3040848970413208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.28087079524993896},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.27288317680358887},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23515918850898743},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.2052176594734192},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19627514481544495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12190645933151245},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.11864364147186279},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0835217833518982},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0737197995185852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2015.2434032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2015.2434032","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325850","display_name":"Universit\u00e4t Stuttgart","ror":"https://ror.org/04vnq7t77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1487844866","https://openalex.org/W1543651123","https://openalex.org/W1548148540","https://openalex.org/W1551349347","https://openalex.org/W1557324374","https://openalex.org/W1558736232","https://openalex.org/W1576838367","https://openalex.org/W1587425810","https://openalex.org/W1587744656","https://openalex.org/W1615359958","https://openalex.org/W1971044547","https://openalex.org/W1975722775","https://openalex.org/W1979453276","https://openalex.org/W1985578018","https://openalex.org/W1985940938","https://openalex.org/W2002494248","https://openalex.org/W2015953957","https://openalex.org/W2032000425","https://openalex.org/W2042717399","https://openalex.org/W2043183450","https://openalex.org/W2050439892","https://openalex.org/W2069876693","https://openalex.org/W2070412653","https://openalex.org/W2072123206","https://openalex.org/W2076738229","https://openalex.org/W2089606669","https://openalex.org/W2098974515","https://openalex.org/W2102006304","https://openalex.org/W2102899117","https://openalex.org/W2104929776","https://openalex.org/W2105758800","https://openalex.org/W2106922607","https://openalex.org/W2113028215","https://openalex.org/W2114265613","https://openalex.org/W2134889984","https://openalex.org/W2136384363","https://openalex.org/W2140620390","https://openalex.org/W2140998418","https://openalex.org/W2147509894","https://openalex.org/W2160643434","https://openalex.org/W2162414231","https://openalex.org/W2169130495","https://openalex.org/W2178013102","https://openalex.org/W2620525899","https://openalex.org/W3115050390","https://openalex.org/W4238021444","https://openalex.org/W4247458820","https://openalex.org/W4250278385","https://openalex.org/W4293203252","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2359343145","https://openalex.org/W4281917972","https://openalex.org/W4390092712","https://openalex.org/W2374106464","https://openalex.org/W1978176540","https://openalex.org/W4290081669","https://openalex.org/W2739833928","https://openalex.org/W2771027241","https://openalex.org/W2369466750","https://openalex.org/W1765905465"],"abstract_inverted_index":{"We":[0,84],"derive":[1],"sufficient":[2],"conditions":[3],"on":[4],"a":[5,76],"drift":[6,21,71,96],"vector":[7,64,78],"field":[8,65,79],"to":[9,50],"let":[10],"an":[11,17],"asymptotically":[12,23],"stable":[13,24],"invariant":[14],"submanifold":[15],"of":[16,66,75,92],"input-affine":[18,68],"system":[19,27,55,69,94,102],"without":[20,70,103],"remain":[22],"for":[25,53,80,119],"the":[26,35,54,63,67,73,90,93,101],"with":[28,56,95],"drift.":[29,57,104],"In":[30],"doing":[31],"so,":[32],"we":[33,106],"use":[34],"same":[36],"feedback":[37,47,82],"laws":[38,48],"modulo":[39],"control":[40],"gain":[41],"tuning,":[42],"such":[43],"that":[44,62,108],"no":[45],"new":[46],"need":[49],"be":[51],"designed":[52],"Our":[58],"main":[59],"assumption":[60],"is":[61],"assumes":[72],"form":[74],"gradient":[77],"given":[81],"laws.":[83],"show":[85],"how":[86],"one":[87],"can":[88],"assess":[89],"performance":[91],"only":[97],"via":[98],"knowledge":[99],"about":[100],"Finally,":[105],"find":[107],"our":[109],"results":[110],"are":[111],"relevant":[112],"in":[113],"synchronization":[114],"problems":[115],"and":[116],"backstepping":[117],"controllers":[118],"mechanical":[120],"systems.":[121]},"counts_by_year":[{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}