{"id":"https://openalex.org/W4402300723","doi":"https://doi.org/10.1109/tac.2024.3455382","title":"Time-Optimal Control for High-Order Chain-of-Integrators Systems With Full State Constraints and Arbitrary Terminal States","display_name":"Time-Optimal Control for High-Order Chain-of-Integrators Systems With Full State Constraints and Arbitrary Terminal States","publication_year":2024,"publication_date":"2024-09-06","ids":{"openalex":"https://openalex.org/W4402300723","doi":"https://doi.org/10.1109/tac.2024.3455382"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3455382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3455382","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/A5045375278","display_name":"Yunan Wang","orcid":"https://orcid.org/0000-0002-9812-7709"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunan Wang","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9812-7709","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079033650","display_name":"Chuxiong Hu","orcid":"https://orcid.org/0000-0002-3504-3065"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuxiong Hu","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3504-3065","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100779781","display_name":"Zeyang Li","orcid":"https://orcid.org/0009-0006-2868-1153"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyang Li","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-2868-1153","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031907990","display_name":"Shize Lin","orcid":"https://orcid.org/0000-0002-2424-8129"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shize Lin","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2424-8129","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006031631","display_name":"Suqin He","orcid":"https://orcid.org/0000-0001-9070-2126"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suqin He","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9070-2126","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yu Zhu","orcid":"https://orcid.org/0000-0001-8525-5296"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhu","raw_affiliation_strings":["State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8525-5296","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":4.5457,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.95254649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"70","issue":"3","first_page":"1499","last_page":"1514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8155999779701233,"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":0.8155999779701233,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.8069000244140625,"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":0.7591000199317932,"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/terminal","display_name":"Terminal (telecommunication)","score":0.7759943008422852},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.6506905555725098},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.6117793321609497},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.6067448854446411},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5764681696891785},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5399835109710693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4844515323638916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46139073371887207},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4511392414569855},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4463389217853546},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33270835876464844},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32085829973220825},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2010282576084137},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16644451022148132},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10176578164100647},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08735746145248413}],"concepts":[{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.7759943008422852},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.6506905555725098},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.6117793321609497},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.6067448854446411},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5764681696891785},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5399835109710693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4844515323638916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46139073371887207},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4511392414569855},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4463389217853546},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33270835876464844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32085829973220825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2010282576084137},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16644451022148132},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10176578164100647},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08735746145248413},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2024.3455382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3455382","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W627854379","https://openalex.org/W1662965174","https://openalex.org/W1971745761","https://openalex.org/W1982019931","https://openalex.org/W2005143756","https://openalex.org/W2005996430","https://openalex.org/W2008809176","https://openalex.org/W2008873414","https://openalex.org/W2014528683","https://openalex.org/W2056653303","https://openalex.org/W2056823730","https://openalex.org/W2076020921","https://openalex.org/W2092711598","https://openalex.org/W2110307800","https://openalex.org/W2116364955","https://openalex.org/W2119224729","https://openalex.org/W2130445615","https://openalex.org/W2170765620","https://openalex.org/W2516736618","https://openalex.org/W2544386679","https://openalex.org/W2607597096","https://openalex.org/W2807114324","https://openalex.org/W2842089854","https://openalex.org/W2898819722","https://openalex.org/W2981611304","https://openalex.org/W2985224807","https://openalex.org/W3045806561","https://openalex.org/W3081304589","https://openalex.org/W3087909510","https://openalex.org/W3089331246","https://openalex.org/W3091565995","https://openalex.org/W3158779221","https://openalex.org/W3174299515","https://openalex.org/W4210494478","https://openalex.org/W4210992244","https://openalex.org/W4214628309","https://openalex.org/W4236201940","https://openalex.org/W4246313583","https://openalex.org/W4281738602","https://openalex.org/W4312572987","https://openalex.org/W4380764276","https://openalex.org/W4388721155","https://openalex.org/W4402300723","https://openalex.org/W6725294853"],"related_works":["https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2081322886","https://openalex.org/W2380425739","https://openalex.org/W2349324463","https://openalex.org/W1988313539","https://openalex.org/W2027541371","https://openalex.org/W2380535488","https://openalex.org/W2371144154","https://openalex.org/W2029980887"],"abstract_inverted_index":{"Time-optimal":[0],"control":[1,22],"for":[2,50,75],"high-order":[3,51],"chain-of-integrators":[4],"systems":[5],"with":[6,102,115],"full":[7,103],"state":[8,104],"constraints":[9],"and":[10,43,67,106,139],"arbitrarily":[11],"given":[12],"terminal":[13],"states":[14],"remains":[15],"a":[16,39,72,83,143],"challenging":[17],"problem":[18],"in":[19,53,134],"the":[20,34,47,54,80,88,128],"optimal":[21,122],"theory":[23],"domain,":[24],"yet":[25],"to":[26,121],"be":[27],"resolved.":[28],"To":[29],"enhance":[30],"further":[31],"comprehension":[32],"of":[33,56,62],"problem,":[35],"this":[36,69],"article":[37,70],"establishes":[38],"novel":[40],"notation":[41],"system":[42],"theoretical":[44],"framework,":[45],"providing":[46],"switching":[48,57,63],"manifold":[49],"problems":[52],"form":[55],"laws.":[58],"Through":[59],"deriving":[60],"properties":[61],"laws":[64],"regarding":[65],"signs":[66],"dimension,":[68],"proposes":[71],"definite":[73],"condition":[74],"time-optimal":[76,99],"control.":[77],"Guided":[78],"by":[79,142],"developed":[81],"theory,":[82],"trajectory":[84,140],"planning":[85],"method":[86,90],"named":[87],"manifold-intercept":[89],"(MIM)":[91],"is":[92],"developed.":[93],"The":[94],"proposed":[95,129],"MIM":[96,130],"can":[97,107],"plan":[98,109],"jerk-limited":[100],"trajectories":[101,114],"constraints,":[105],"also":[108],"near-optimal":[110],"nonchattering":[111],"higher":[112],"order":[113],"negligible":[116],"extra":[117],"motion":[118],"time":[119],"compared":[120],"profiles.":[123],"Numerical":[124],"results":[125],"indicate":[126],"that":[127],"outperforms":[131],"all":[132],"baselines":[133],"computational":[135,137],"time,":[136],"accuracy,":[138],"quality":[141],"large":[144],"gap.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2024-09-07T00:00:00"}