{"id":"https://openalex.org/W3113147150","doi":"https://doi.org/10.1109/tac.2020.3044531","title":"Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping","display_name":"Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3113147150","doi":"https://doi.org/10.1109/tac.2020.3044531","mag":"3113147150"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2020.3044531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3044531","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":true,"oa_status":"green","oa_url":"https://zenodo.org/record/5948673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067934887","display_name":"Jingjing Jiang","orcid":"https://orcid.org/0000-0001-7754-9147"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jingjing Jiang","raw_affiliation_strings":["Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7754-9147","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018225150","display_name":"Alessandro Astolfi","orcid":"https://orcid.org/0000-0002-4331-454X"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"Alessandro Astolfi","raw_affiliation_strings":["Department of Civil Engineering and Computer Engineering, University of Roma \u201cTor Vergata\u201d, Rome, Italy","Department of Electrical and Electronic Engineering, Imperial College London, London, U.K","Department of Civil Engineering and Computer Engineering, University of Roma \"Tor Vergata\", Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4331-454X","affiliations":[{"raw_affiliation_string":"Department of Civil Engineering and Computer Engineering, University of Roma \u201cTor Vergata\u201d, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Civil Engineering and Computer Engineering, University of Roma \"Tor Vergata\", Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6443,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.93393012,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"66","issue":"11","first_page":"5429","last_page":"5435"},"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":0.9998999834060669,"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/T12772","display_name":"Control and Stability of Dynamical Systems","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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":0.9980000257492065,"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/underactuation","display_name":"Underactuation","score":0.9240219593048096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7755315899848938},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6689313650131226},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5887441039085388},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5550824403762817},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5397776961326599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4643459916114807},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4585414528846741},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3297547698020935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21597376465797424},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14884841442108154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10321652889251709},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08628946542739868},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05290108919143677}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9240219593048096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7755315899848938},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6689313650131226},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5887441039085388},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5550824403762817},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5397776961326599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4643459916114807},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4585414528846741},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3297547698020935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21597376465797424},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14884841442108154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10321652889251709},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08628946542739868},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05290108919143677},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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":4,"locations":[{"id":"doi:10.1109/tac.2020.3044531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3044531","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"},{"id":"pmh:oai:zenodo.org:5948673","is_oa":true,"landing_page_url":"https://zenodo.org/record/5948673","pdf_url":"https://zenodo.org/record/5948673","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control 66(11) 5429 - 5435","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:figshare.com:article/14339600","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Stabilization_of_a_class_of_under-actuated_nonlinear_systems_via_under-actuated_back-stepping/14339600","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/97599","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/97599","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"5435","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:5948673","is_oa":true,"landing_page_url":"https://zenodo.org/record/5948673","pdf_url":"https://zenodo.org/record/5948673","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control 66(11) 5429 - 5435","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3113147150.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W89510016","https://openalex.org/W1528313570","https://openalex.org/W1535402719","https://openalex.org/W1548148540","https://openalex.org/W1559327333","https://openalex.org/W1968270088","https://openalex.org/W2040388741","https://openalex.org/W2074857762","https://openalex.org/W2081727243","https://openalex.org/W2090167557","https://openalex.org/W2101116544","https://openalex.org/W2109993961","https://openalex.org/W2116819608","https://openalex.org/W2125150316","https://openalex.org/W2125968092","https://openalex.org/W2157630435","https://openalex.org/W2169199905","https://openalex.org/W2171649678","https://openalex.org/W2344467955","https://openalex.org/W2562634333","https://openalex.org/W2738711130","https://openalex.org/W2912463077","https://openalex.org/W2963944547","https://openalex.org/W4230979734","https://openalex.org/W4245741303","https://openalex.org/W4292402580","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W962423920"],"abstract_inverted_index":{"The":[0,18,49],"stabilization":[1,30],"problem":[2,31],"for":[3,32,42],"a":[4,12,43],"class":[5,44],"of":[6,45,51,69],"nonlinear":[7],"systems":[8,55],"is":[9,25,39],"solved":[10],"via":[11],"novel":[13],"method":[14],"inspired":[15],"by":[16,27],"back-stepping.":[17],"method,":[19],"that":[20],"we":[21],"call":[22],"underactuated":[23,46],"back-stepping,":[24],"introduced":[26],"solving":[28],"the":[29,52,67,70],"an":[33],"inertia":[34],"wheel":[35],"pendulum":[36],"and":[37,60],"it":[38],"then":[40],"developed":[41],"mechanical":[47],"systems.":[48],"properties":[50],"resulting":[53],"closed-loop":[54],"are":[56,63],"studied":[57],"in":[58],"detail":[59],"case":[61],"studies":[62],"given":[64],"to":[65],"show":[66],"effectiveness":[68],"proposed":[71],"method.":[72]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
