{"id":"https://openalex.org/W2103228529","doi":"https://doi.org/10.1109/robio.2009.5420439","title":"Nonlinear attitude control of rigid body with bounded control input and velocity-free","display_name":"Nonlinear attitude control of rigid body with bounded control input and velocity-free","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2103228529","doi":"https://doi.org/10.1109/robio.2009.5420439","mag":"2103228529"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5076433797","display_name":"Qiang Tang","orcid":"https://orcid.org/0000-0002-9924-3939"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Tang","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322847","display_name":"Yan Wang","orcid":"https://orcid.org/0000-0002-9596-1263"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004583134","display_name":"Xinglin Chen","orcid":"https://orcid.org/0000-0002-5820-9224"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinglin Chen","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Dept. of Control Science and Engineering, Harbin Institute of Technology Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028090675","display_name":"Yongjun Lei","orcid":"https://orcid.org/0000-0003-1928-347X"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjun Lei","raw_affiliation_strings":["Beijing Institute of Control Engineering, Chinese Academy of Space Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Chinese Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7701,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77517721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"24","issue":null,"first_page":"2221","last_page":"2226"},"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8496303558349609},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.8465989828109741},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.6991426944732666},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.6630733013153076},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6461549997329712},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.641628086566925},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5605143904685974},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5589959621429443},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5464656352996826},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5288128852844238},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49572670459747314},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.46347910165786743},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.44442489743232727},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.43882301449775696},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4355085492134094},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.42004936933517456},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4155493378639221},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3896118700504303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38031676411628723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.271761953830719},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24721336364746094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21909871697425842},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1519678235054016},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13437128067016602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1002332866191864}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8496303558349609},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8465989828109741},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.6991426944732666},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.6630733013153076},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6461549997329712},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.641628086566925},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5605143904685974},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5589959621429443},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5464656352996826},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5288128852844238},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49572670459747314},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46347910165786743},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.44442489743232727},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.43882301449775696},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4355085492134094},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.42004936933517456},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4155493378639221},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3896118700504303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38031676411628723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.271761953830719},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24721336364746094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21909871697425842},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1519678235054016},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13437128067016602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1002332866191864},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1957056377","https://openalex.org/W1969981634","https://openalex.org/W1980212624","https://openalex.org/W1981004592","https://openalex.org/W1982426990","https://openalex.org/W2023759881","https://openalex.org/W2042248038","https://openalex.org/W2058793419","https://openalex.org/W2063217133","https://openalex.org/W2077974163","https://openalex.org/W2097020018","https://openalex.org/W2129092695","https://openalex.org/W2134858417","https://openalex.org/W2147285204","https://openalex.org/W2161908285","https://openalex.org/W2167536640","https://openalex.org/W2467377838","https://openalex.org/W4248774447","https://openalex.org/W6629617714","https://openalex.org/W6641204602","https://openalex.org/W6683815064"],"related_works":["https://openalex.org/W2370734581","https://openalex.org/W2914794850","https://openalex.org/W2368484960","https://openalex.org/W2165354764","https://openalex.org/W4309462258","https://openalex.org/W2094011599","https://openalex.org/W1541746961","https://openalex.org/W2892019095","https://openalex.org/W2163045496","https://openalex.org/W1482547037"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,26],"result":[4],"on":[5,31],"attitude":[6,37,59],"tracking":[7,60],"problem":[8],"of":[9,20,25,38,64,80],"mobile":[10],"robot":[11],"without":[12],"velocity":[13],"measurement":[14],"and":[15,47,84,103],"within":[16],"the":[17,23,39,58,65,78,89],"physical":[18],"limits":[19],"actuator":[21],"by":[22,44],"development":[24],"novel":[27],"Lyapunov":[28],"function":[29],"based":[30],"quaternion":[32],"feedback":[33],"is":[34,42,55],"presented.":[35],"The":[36,62],"rigid":[40],"body":[41],"represented":[43],"unit":[45],"quaternion,":[46],"introduces":[48],"an":[49],"auxiliary":[50],"dynamical":[51],"system":[52],"whose":[53],"output":[54],"used":[56,93],"in":[57,77],"error.":[61],"analysis":[63],"method":[66],"shows":[67],"that":[68,88],"our":[69],"control":[70,82],"law":[71],"guarantees":[72],"almost":[73],"global":[74],"asymptotic":[75],"stability":[76],"case":[79],"bounded":[81],"input,":[83],"simulation":[85],"results":[86],"demonstrate":[87],"controller":[90],"can":[91],"be":[92],"to":[94],"perform":[95],"large":[96],"angle":[97],"maneuver":[98],"with":[99],"short":[100],"settling":[101],"time":[102],"good":[104],"steady-state":[105],"performance":[106],"torque.":[107]},"counts_by_year":[{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}