{"id":"https://openalex.org/W2030975081","doi":"https://doi.org/10.1137/s0363012900374099","title":"Configuration Controllability of Mechanical Systems Underactuated by One Control","display_name":"Configuration Controllability of Mechanical Systems Underactuated by One Control","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2030975081","doi":"https://doi.org/10.1137/s0363012900374099","mag":"2030975081"},"language":"en","primary_location":{"id":"doi:10.1137/s0363012900374099","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0363012900374099","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","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/A5027913099","display_name":"Jorge Cort\u00e9s","orcid":"https://orcid.org/0000-0001-9582-5184"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jorge Cort\u00e9s","raw_affiliation_strings":["University of Illinois at Urbana Champaign"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana Champaign","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024022921","display_name":"Sonia Mart\u0131\u0301nez","orcid":"https://orcid.org/0000-0001-6756-1484"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sonia Mart\u00ednez","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.815,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78783371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"41","issue":"6","first_page":"1901","last_page":"1921"},"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":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10879","display_name":"Robotic Locomotion and Control","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9840999841690063,"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":0.9788213968276978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.7264060974121094},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6847144365310669},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.6061918139457703},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5003721714019775},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.48734530806541443},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4799952208995819},{"id":"https://openalex.org/keywords/affine-connection","display_name":"Affine connection","score":0.46318507194519043},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.46251145005226135},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43531960248947144},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.3256677985191345},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32245761156082153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30399972200393677},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2552100419998169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.1840168535709381},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10724106431007385},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0920867919921875},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09051662683486938},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06488439440727234}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.9788213968276978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.7264060974121094},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6847144365310669},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.6061918139457703},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5003721714019775},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.48734530806541443},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4799952208995819},{"id":"https://openalex.org/C105561566","wikidata":"https://www.wikidata.org/wiki/Q1371213","display_name":"Affine connection","level":3,"score":0.46318507194519043},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46251145005226135},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43531960248947144},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.3256677985191345},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32245761156082153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30399972200393677},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2552100419998169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.1840168535709381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10724106431007385},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0920867919921875},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09051662683486938},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06488439440727234},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1137/s0363012900374099","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0363012900374099","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W91466345","https://openalex.org/W1784646002","https://openalex.org/W1887006513","https://openalex.org/W1964373008","https://openalex.org/W1966086223","https://openalex.org/W1983885293","https://openalex.org/W1985578018","https://openalex.org/W1987854478","https://openalex.org/W1991378199","https://openalex.org/W1994246733","https://openalex.org/W2010704362","https://openalex.org/W2015672894","https://openalex.org/W2021396103","https://openalex.org/W2039763880","https://openalex.org/W2058113136","https://openalex.org/W2068830756","https://openalex.org/W2071865586","https://openalex.org/W2079121704","https://openalex.org/W2089465567","https://openalex.org/W2091744500","https://openalex.org/W2107341899","https://openalex.org/W2108314056","https://openalex.org/W2120851686","https://openalex.org/W2138642494","https://openalex.org/W2146048330","https://openalex.org/W2146826877","https://openalex.org/W2149555489","https://openalex.org/W2155973751","https://openalex.org/W2174733634","https://openalex.org/W2321579306","https://openalex.org/W2584784847","https://openalex.org/W2620089959","https://openalex.org/W3135593729","https://openalex.org/W4285719527","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W1973549120","https://openalex.org/W70498098","https://openalex.org/W2603460611","https://openalex.org/W3095199650","https://openalex.org/W2314512229","https://openalex.org/W2565928091"],"abstract_inverted_index":{"We":[0,14],"investigate":[1],"local":[2,47],"configuration":[3,48],"controllability":[4,20,49],"for":[5,24,38,50],"mechanical":[6,28],"control":[7],"systems":[8,29,51],"within":[9],"the":[10,25,34,39],"affine":[11],"connection":[12],"formalism.":[13],"rely":[15],"on":[16,19],"previous":[17],"results":[18],"and":[21,57],"series":[22],"expansions":[23],"evolution":[26],"of":[27,55],"starting":[30],"from":[31],"rest.":[32],"Extending":[33],"work":[35],"by":[36],"Lewis":[37],"single-input":[40],"case,":[41],"we":[42],"are":[43],"able":[44],"to":[45],"characterize":[46],"with":[52],"n":[53],"degrees":[54],"freedom":[56],"n-1":[58],"input":[59],"forces.":[60]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
